WO2018155407A1 - 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 PDF

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Publication number
WO2018155407A1
WO2018155407A1 PCT/JP2018/005885 JP2018005885W WO2018155407A1 WO 2018155407 A1 WO2018155407 A1 WO 2018155407A1 JP 2018005885 W JP2018005885 W JP 2018005885W WO 2018155407 A1 WO2018155407 A1 WO 2018155407A1
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WO
WIPO (PCT)
Prior art keywords
bucket
angle
work
excavation
arm
Prior art date
Application number
PCT/JP2018/005885
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
山中　伸好
熊谷　年晃
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to US16/476,653 priority Critical patent/US20190338489A1/en
Priority to DE112018000253.5T priority patent/DE112018000253T5/de
Priority to KR1020197019177A priority patent/KR20190087617A/ko
Priority to CN201880006469.2A priority patent/CN110168170A/zh
Publication of WO2018155407A1 publication Critical patent/WO2018155407A1/ja

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers 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
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • 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
    • 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

Definitions

  • This disclosure relates to work vehicles.
  • the hydraulic excavator includes a work machine having a boom, an arm, and a bucket.
  • an operator needs to operate the movement of the bucket by moving the three-axis operation levers of the boom, the arm, and the bucket.
  • the arm is operated to penetrate the bucket into the earth and sand. If the arm operation is continued, the bucket penetrates deeply into the earth and the resistance of the earth increases, so the boom is operated to raise the bucket upward. Thereby, the excavation depth with respect to the earth and sand of a bucket is made appropriate.
  • Patent Document 1 Japanese Patent Laid-Open No. 61-225429
  • Patent Document 2 in order to reduce the resistance of earth and sand during excavation work, a collision between the bucket back surface and the excavation surface is detected to avoid interference between the bucket back surface.
  • Patent Document 1 in order to reduce the resistance of earth and sand during excavation work, a collision between the bucket back surface and the excavation surface is detected to avoid interference between the bucket back surface.
  • Patent Document 1 in order to reduce the resistance of earth and sand during excavation work, a collision between the bucket back surface and the excavation surface is detected to avoid interference between the bucket back surface.
  • Patent Document 2 Japanese Patent Application Laid-Open No. Sho 62-189222
  • the excavation depth of the bucket is determined so that the weight of the earth and sand contained in the bucket is measured and the weight of the earth and sand when the bucket is fully filled is obtained.
  • An automatic adjustment method is disclosed.
  • the purpose of the present disclosure is to solve the above-described problem, and by adjusting the bucket posture before starting excavation, it is not necessary to perform complicated calculations during excavation work, and a simple method It is to provide a work vehicle capable of executing an efficient excavation work and a method for controlling the work vehicle.
  • a work vehicle includes a vehicle main body, a boom rotatable with respect to the vehicle main body, an arm rotatable with respect to the boom, and a bucket rotatable with respect to the arm.
  • a working machine and a control unit that calculates an angle of the bucket with respect to the arm according to an operation command before starting excavation and controls the working machine so that the calculated angle becomes the first angle.
  • 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 of controlling a work vehicle including a machine, the step of receiving an operation command before starting excavation, the step of calculating the angle of the bucket with respect to the arm according to the operation command, and the calculated angle being the first angle And a step of controlling the work machine.
  • the work vehicle and the work vehicle control method according to the present disclosure can perform efficient excavation work in a simple manner without having to perform complicated calculations during excavation work by adjusting the bucket posture before starting excavation. Is possible.
  • FIG. 1 is a perspective view showing an example of a work vehicle based on the embodiment.
  • a hydraulic excavator CM including a working machine 2 that operates by hydraulic pressure will be described as an example of a working vehicle to which the concept of the present disclosure can be applied.
  • 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 device 5 may be composed of wheels (tires).
  • 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.
  • cylinder length data ⁇ ⁇ ⁇ 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.
  • the bucket 8 has a plurality of blades.
  • the tip of the bucket 8 is referred to as a cutting edge 8a.
  • the bucket 8 may not have a blade.
  • the tip of the bucket 8 may be formed of a straight steel plate.
  • FIG. 2 shows an X and Y axis vehicle body coordinate system with the boom pin 13 as a reference point (reference position).
  • the tilt angle ⁇ 1 of the boom 6 with respect to the horizontal direction of the vehicle body coordinate system is calculated.
  • the inclination angle ⁇ 1 is an angle formed by a horizontal line (X axis) and a line segment connecting the boom pin 13 and the arm pin 14.
  • the inclination 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 ⁇ 2 is an angle formed by a line segment connecting the boom pin 13 and the arm pin 14 and a line segment connecting the arm pin 14 and the bucket pin 15.
  • the inclination angle ⁇ 3 of the bucket 8 with respect to the arm 7 to the blade edge 8a is calculated.
  • the inclination angle ⁇ 3 is an angle formed by a line segment connecting the arm pin 14 and the bucket pin 15 and a line segment connecting the bucket pin 15 and the blade edge 8a of the bucket 8.
  • the inclination angle ⁇ 3 is also referred to as a bucket angle that is an angle of the bucket 8 with respect to the arm 7.
  • the stroke length is detected using a stroke sensor, and the method of calculating the inclination angle ⁇ based on the detection result has been described, but using an angle detector such as a rotary encoder,
  • the inclination angle may be calculated.
  • the horizontal line (horizontal direction) is detected by an inertial measurement unit (not shown), but may be detected by an inclination sensor, an acceleration sensor, or the like.
  • 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 the operation of excavation work using the work implement 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 operating device 25 is a pilot hydraulic type operating 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) are different hydraulic pumps.
  • pilot oil sent from the main hydraulic pump and decompressed by the decompression 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 includes a first operating lever 25R, a second operating lever 25L, and an excavation button 25P.
  • the first operation lever 25R is disposed on the right side of the driver's seat 4S.
  • the second operation lever 25L is disposed on the left side of the driver's seat 4S.
  • the front / rear and left / right operations correspond to the biaxial operations.
  • the excavation button 25P is a button for instructing when the operator starts excavation work.
  • the work machine controller 26 controls the posture of the work machine 2 for excavation work in accordance with an operator's instruction to press the excavation button 25P. Specifically, as will be described later, the bucket angle is adjusted to be a predetermined angle (first angle).
  • 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.
  • 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.
  • 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 of the bucket 8 near 0 ° is shown as the limit angle.
  • the excavation angle represents an angle between the direction of the blade edge 8a of the bucket 8 and the excavation direction (traveling direction) of the blade edge 8a when the bucket 8 moves.
  • 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.
  • the limit angle and the predetermined angle Q are an example, and can be set to different values according to the form of the bucket 8.
  • the work vehicle CM performs efficient excavation work in a simple manner by executing excavation work at an excavation angle with a low sediment resistance value. Specifically, the work vehicle CM performs excavation work so that the excavation angle becomes a predetermined angle Q.
  • the expression that the excavation angle is equal to the predetermined angle Q does not mean that the excavation angle completely coincides with the predetermined angle Q, but includes the case where the excavation angle is an approximate value of the predetermined angle Q.
  • FIG. 5 is a diagram illustrating the movement of the excavation work of the work machine 2 based on the embodiment.
  • the case where the arm 7 is operated is shown.
  • the arm 7 is operated to penetrate the bucket 8 into the earth and sand.
  • the angle of the bucket 8 with respect to the arm 7 is fixed, the excavation angle when the excavation work is performed by operating the arm 7 becomes constant.
  • the arm 7 can be operated to perform excavation work at the excavation angle Q.
  • the angle of the bucket 8 with respect to the arm 7 is set to the bucket angle P before starting excavation so that the excavation angle when the excavation work is performed by operating the arm 7 becomes the optimum excavation angle (angle Q). adjust.
  • Before excavation start includes both cases before starting the first excavation work (first time) and before starting the subsequent excavation work (second time and later).
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 in accordance with the operation command before the start of excavation, and controls the work machine so that the calculated angle becomes a predetermined angle (angle P).
  • the earth and sand resistance applied to the bucket 8 when the arm 7 is operated and excavated is reduced. Therefore, it is possible to execute an efficient excavation work by a simple method by reducing the earth and sand resistance (load) applied to the bucket 8.
  • the operator needs to operate the three-axis operation levers of the boom, the arm, and the bucket so that the excavation angle is optimal when excavation work is performed before the excavation is started.
  • the operation was not easy and skill was required.
  • the bucket angle of the bucket 8 is controlled by the operation command before starting excavation based on the embodiment so that the excavation angle is optimum when excavation work is performed. Therefore, efficient excavation work can be performed by a simple operation.
  • FIG. 6 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 there is an input from the excavation button 25P (step S2). Specifically, the work machine controller 26 determines whether or not an instruction to press the excavation button 25P by an operator's operation has been received.
  • step S2 if it is determined that the excavation button 25P has been input (YES in step S2), the work machine controller 26 calculates a bucket angle (step S4).
  • the work machine controller 26 calculates the angle (bucket angle) ⁇ 3 of the bucket 8 with respect to the arm 7 based on the detection result of the bucket cylinder stroke sensor 18.
  • step S2 when it is determined that the excavation button 25P is not input (NO in step S2), the work machine controller 26 maintains the state of step S2.
  • the work machine controller 26 adjusts the bucket angle ⁇ 3 to be the bucket angle P (step S6).
  • the work machine controller 26 drives the direction control valve 64 so that the bucket angle ⁇ 3 becomes the bucket angle P, and adjusts the hydraulic oil supplied to the bucket cylinder 12.
  • the process ends (END).
  • the work machine controller 26 sets the bucket angle so that the excavation angle formed between the direction of the cutting edge 8 a of the bucket 8 and the excavation direction of the cutting edge 8 a of the bucket 8 becomes the predetermined angle Q. ⁇ 3 is adjusted to the bucket angle P.
  • the posture of the bucket 8 Before starting excavation, which is before starting excavation work, the posture of the bucket 8 is adjusted.
  • the excavation angle when the arm 7 is operated as the attitude of the bucket 8 is automatically controlled so as to be an optimum angle.
  • the earth and sand resistance (load) applied to the bucket 8 at the start of excavation is reduced.
  • Modification 1 The work vehicle according to the first modification of the embodiment controls the bucket 8 according to another operation command without depending on the operation instruction of the operator's excavation button 25P.
  • the work vehicle according to the first modification of the embodiment determines whether or not the attitude of the bucket 8 is in the soil removal state, and autonomously adjusts the angle of the bucket 8 if in the soil removal state.
  • the work vehicle determines whether or not it is in a soiled state based on the angle of the bucket 8 with respect to the horizon.
  • FIG. 7 is a diagram illustrating the posture of the bucket 8 based on the first modification of the embodiment. As shown in FIG. 7, the case where the angle ⁇ 3 of the bucket 8 with respect to the arm 7 is 0 is shown.
  • the bucket-to-horizontal angle ⁇ b formed by the line connecting the bucket pin 15 that is the rotation center of the bucket 8 and the blade edge 8a of the bucket 8 and the horizontal line is shown. .
  • the bucket pair horizontal angle ⁇ b is an angle of the bucket 8 with respect to the horizontal line.
  • FIG. 8 is a diagram illustrating an operation process of excavation work of the work vehicle CM based on the first modification of the embodiment.
  • the work machine controller 26 determines whether or not there is an operation of the bucket 8 (step S10). Specifically, the work machine controller 26 determines whether there is an operation in the left-right direction of the first operation lever 25R.
  • step S10 when it is determined that the bucket 8 is operated (YES in step S10), the work machine controller 26 calculates a bucket angle (step S11).
  • the work machine controller 26 calculates the angle (bucket angle) ⁇ 3 of the bucket 8 with respect to the arm 7 based on the detection result of the bucket cylinder stroke sensor 18.
  • step S10 when the work machine controller 26 determines that there is no operation of the bucket 8 (NO in step S10), the state of step S10 is maintained.
  • the work machine controller 26 calculates the bucket-to-horizontal angle ⁇ b (step S12).
  • the bucket-to-horizontal angle ⁇ b formed by the line connecting the bucket pin 15 and the blade edge 8a of the bucket 8 and the horizontal line is calculated based on the method described in FIG.
  • the inclination angles ⁇ 1 and ⁇ 2 are calculated based on detection results of the boom cylinder stroke sensor 16 and the arm cylinder stroke sensor 17, respectively. When the inclination angles ⁇ 1 and ⁇ 2 are calculated before the operation of the bucket 8, the values can be used.
  • the work machine controller 26 determines whether or not the calculated bucket-to-horizontal angle ⁇ b is equal to or greater than a predetermined angle R (step S14).
  • the predetermined angle R is 90 ° or more.
  • step S14 when the work implement controller 26 determines that the calculated bucket-to-horizontal angle ⁇ b is greater than or equal to the predetermined angle R (YES in step S14), it determines whether or not the operation of the bucket has ended (step S14). Step S16).
  • step S14 when it is determined that the calculated bucket-to-horizontal angle ⁇ b is less than the predetermined angle R (NO in step S14), the work machine controller 26 returns to step S10.
  • step S16 when it is determined that the operation of the bucket is completed (YES in step S16), the work machine controller 26 adjusts the bucket angle ⁇ 3 to be the bucket angle P (step S18).
  • the work machine controller 26 drives the direction control valve 64 through which the hydraulic oil supplied to the bucket cylinder 12 flows so that the bucket angle ⁇ 3 becomes the bucket angle P.
  • the process ends (END).
  • the work machine controller 26 sets the bucket angle so that the excavation angle formed between the direction of the cutting edge 8 a of the bucket 8 and the excavation direction of the cutting edge 8 a of the bucket 8 becomes the predetermined angle Q. ⁇ 3 is adjusted to the bucket angle P.
  • the posture of the bucket 8 Before starting excavation, which is before starting excavation work, the posture of the bucket 8 is adjusted.
  • the excavation angle when the arm 7 is operated as the attitude of the bucket 8 is automatically controlled so as to be an optimum angle.
  • the earth and sand resistance (load) applied to the bucket 8 at the start of excavation is reduced.
  • the work machine controller 26 calculates the bucket-to-horizontal angle ⁇ b, which is the angle of the bucket 8 with respect to the horizontal line, in accordance with the operation command for the bucket 8, and determines whether the bucket-to-horizontal angle ⁇ b is equal to or greater than the predetermined angle R. If it is determined that the bucket-to-horizontal angle ⁇ b is equal to or greater than the predetermined angle R, it is determined that the attitude of the bucket 8 is in the soil removal state. When it is determined that the working machine controller 26 is in the soil removal state, the work machine controller 26 adjusts the angle of the bucket 8 to be the bucket angle P.
  • the work vehicle according to the second modification of the embodiment further determines the load applied to the work machine 2 and autonomously adjusts the angle of the bucket 8 if the soil is in a soiled state.
  • FIG. 9 is a functional block diagram illustrating the configuration of the control system 200A based on the second modification of the embodiment.
  • control system 200 ⁇ / b> A is different from the control system 200 in that a load sensor 28 is further provided.
  • the operation device 25 is different in that it is replaced with the operation device 25 #.
  • the operation device 25 # has a configuration in which the excavation 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 load sensor 28 is attached to the bucket 8.
  • the work machine controller 26 determines whether or not the work machine 2 has performed the earthing work according to the load sensor 28 attached to the bucket 8.
  • the value of the load sensor 28 is increased by excavation work in which the bucket 8 excavates earth and sand.
  • the value of the load sensor 28 becomes smaller due to the earth removal work in which the bucket 8 removes earth and sand.
  • the work machine controller 26 determines whether the load value according to the detection result from the load sensor 28 is equal to or greater than the first value. The work machine controller 26 determines that the excavation work has been executed when the work machine controller 26 is equal to or greater than the first value.
  • the work machine controller 26 determines whether or not the load value according to the detection result from the load sensor 28 is less than a second value that is smaller than the first value.
  • the work machine controller 26 determines that the earth removal work has been executed when the load value according to the detection result from the load sensor 28 is less than the second value.
  • the first value and the second value may be the same value.
  • FIG. 10 is a diagram illustrating an operation process of excavation work of the work vehicle CM based on the second modification of the embodiment.
  • the work machine controller 26 determines whether the load is large according to the detection result from the load sensor 28 (step S20). Specifically, the work machine controller 26 determines whether or not the value according to the detection result from the load sensor 28 is equal to or greater than the first value. The work machine controller 26 determines whether or not excavation work has been executed.
  • step S20 when work implement controller 26 determines that the load is large according to the detection result from load sensor 28 (YES in step S20), the operation proceeds to step S22.
  • step S20 when the work machine controller 26 determines that the load is not large according to the detection result from the load sensor 28 (NO in step S20), the state of step S20 is maintained.
  • step S22 the work machine controller 26 determines whether or not the bucket 8 is operated. Specifically, the work machine controller 26 determines whether there is an operation in the left-right direction of the first operation lever 25R.
  • step S22 when it is determined that the bucket 8 is operated (YES in step S22), the work machine controller 26 next determines whether or not the load on the bucket is small (step S24). Specifically, the work machine controller 26 determines whether or not the value according to the detection result from the load sensor 28 is less than the second value. The work machine controller 26 determines whether or not the earth removal work has been executed.
  • step S22 when the work machine controller 26 determines that there is no operation of the bucket 8 (NO in step S22), the state of step S22 is maintained.
  • step S24 when it is determined that the load on the bucket 8 is small (YES in step S24), the work machine controller 26 calculates a bucket angle (step S11). Specifically, the work machine controller 26 calculates the angle (bucket angle) ⁇ 3 of the bucket 8 with respect to the arm 7 based on the detection result of the bucket cylinder stroke sensor 18.
  • step S24 when the work machine controller 26 determines that the load is not small according to the detection result from the load sensor 28 (NO in step S24), the work machine controller 26 returns to step S22.
  • step S12 the work machine controller 26 calculates the bucket-to-horizontal angle ⁇ b (step S12). Since the series of processing in steps S11 to S18 is the same as that described in FIG. 8, detailed description thereof will not be repeated.
  • the work machine controller 26 determines whether or not the earth removal work has been executed according to the detection result from the load sensor 28. When it is determined that the earth removal work has been performed, the work machine controller 26 calculates the bucket-to-horizontal angle ⁇ b according to the operation command for the bucket 8 and determines whether or not the angle is equal to or greater than the predetermined angle R. Accordingly, it is determined whether or not the posture of the bucket 8 is in the soil removal state, and if it is in the soil removal state, the bucket angle ⁇ 3 is adjusted to the bucket angle P.
  • the work machine controller 26 determines whether or not the earth removal work has been executed based on both the detection result of the load sensor 28 and the posture state of the bucket 8.
  • the work machine controller 26 determines whether or not the earth removal work has been executed reliably in order to determine whether or not the earth removal work has been executed based on both the detection result of the load sensor 28 and the posture state of the bucket 8. Is possible. Then, the bucket angle ⁇ 3 is adjusted to the bucket angle P before the start of excavation when it is determined that the earth removal work has been executed reliably.
  • the work machine controller 26 it is possible for the work machine controller 26 to accurately determine that the excavation is not started after the earth removal work is performed, and to perform an efficient excavation work by a simple method.
  • FIG. 11 is a functional block diagram illustrating the configuration of a control system 200B that controls a work vehicle according to another embodiment.
  • control system 200B is different from the control system 200A in that a receiving unit 29 is provided instead of the load sensor 28. Since other configurations are the same as those described with reference to FIG. 9, detailed description thereof will not be repeated.
  • the receiving unit 29 outputs the received command to the work machine controller 26.
  • the receiving unit 29 receives the excavation start command transmitted from the outside and outputs it to the work machine controller 26.
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 in response to the excavation start command received by the receiving unit 29, and controls the work machine so that the calculated angle becomes a predetermined angle.
  • the posture of the bucket 8 is adjusted before starting excavation, which is before starting excavation work.
  • the excavation angle when the arm 7 is operated as the attitude of the bucket 8 is automatically controlled so as to be an optimum angle.
  • the earth and sand resistance (load) applied to the bucket 8 at the start of excavation is reduced.
  • FIG. 12 is a diagram illustrating the concept of a work vehicle system based on another embodiment.
  • a work vehicle system constitutes a control system for controlling 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 work machine controller 26 # can execute the excavation work operation process based on the embodiment described in FIG.
  • the configuration according to the embodiment can be applied, and an efficient excavation work can be performed in a simple manner.
  • the present invention can also be applied to a configuration in which 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 the user's instruction and the work implement controller starts excavation work according to the programmed operation command, the arm of the bucket 8
  • the angle of the bucket 8 with respect to 7 may be calculated, and a process for operating the work implement so that the calculated angle becomes a predetermined angle may be included.
  • the present invention is not limited to this, and the work implement 2 may be controlled using an arbitrary predetermined angle as the excavation angle.
  • the value of the excavation angle is not limited to a fixed value.
  • the value of the predetermined angle Q may be changed according to the soil quality.
  • the work vehicle CM in the embodiment is provided with a vehicle main 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 angle of the bucket 8 with respect to the arm 7 according to the input (excavation command) of the excavation button 25P before starting excavation, and controls the bucket 8 so that the calculated angle becomes the bucket angle P.
  • the work vehicle CM in the embodiment controls the bucket 8 so as to have the bucket angle P before the start of excavation. Therefore, as shown in FIG. 4, excavation work of the work implement 2 is executed at an excavation angle of a predetermined angle Q at which the value of earth and sand resistance is the minimum value.
  • excavation work of the work implement 2 is executed at an excavation angle of a predetermined angle Q at which the value of earth and sand resistance is the minimum value.
  • the work vehicle CM in the embodiment is provided with a work machine controller 26 that determines whether or not a soil removal work as shown in FIG.
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 when determining that the earth removal work has been executed, and controls the bucket 8 so that the calculated angle becomes the bucket angle P.
  • the work vehicle CM in the embodiment determines whether or not the earth removal work of the bucket 8 has been performed, and controls the bucket 8 so that the bucket angle P is set before starting excavation. Therefore, when the earth removal work of the bucket 8 is executed, preparation before starting excavation is executed. Therefore, it is possible to execute efficient excavation work by a simple method.
  • the work machine controller 26 of the work vehicle CM in the embodiment calculates a bucket-to-horizontal angle.
  • the bucket-to-horizontal angle ⁇ b is an angle formed by a line segment connecting the bucket pin 15 and the blade edge 8a of the bucket 8 and a horizontal line.
  • the bucket 8 is controlled so that the calculated angle becomes the bucket angle P.
  • the work vehicle CM in the embodiment determines that the attitude of the bucket 8 is in the soil removal state when the bucket-to-horizontal angle is equal to or greater than the predetermined angle R, and
  • the bucket 8 is controlled to be P. Therefore, after determining whether or not the soil is in a soiled state based on the posture of the bucket 8, preparations before starting excavation are executed. Therefore, it is possible to easily grasp that the soil is in a soiled state, and it is possible to execute an efficient excavation work by a simple method.
  • the work vehicle CM in the embodiment is provided with a load sensor 28 that detects a load applied to the bucket 8.
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 according to the operation command of the first operating lever 25R before starting excavation and the detection result of the load sensor 28 during excavation, and the calculated angle becomes the bucket angle P.
  • the bucket 8 is controlled.
  • the work vehicle CM determines whether or not the soil removal work has been performed according to the detection result of the load sensor 28, and when it is determined that the soil removal work has been performed, the bucket angle P becomes the bucket angle P before the start of excavation.
  • the bucket 8 is controlled. Therefore, after determining whether or not the soil is in a soiled state based on the detection result of the load sensor, preparations before starting excavation are executed. For this reason, it is possible to accurately grasp that the soil is being discharged, and it is possible to execute efficient excavation work by a simple method.
  • the work vehicle CM in the embodiment is provided with a receiving unit 29 that receives an operation start command as shown in FIG.
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 according to the excavation start command received by the receiving unit 29 before starting excavation, and controls the bucket 8 so that the calculated angle becomes the bucket angle P.
  • the work vehicle CM in the embodiment controls the bucket 8 so that the bucket angle P is set before starting excavation in accordance with an operation start command from the outside. Therefore, it is possible to execute an efficient excavation work by a simple method by remote operation from the outside.
  • the work vehicle CM in the embodiment is provided with a bucket cylinder 12 that drives the bucket 8 in accordance with an operation command before starting excavation.
  • the work machine controller 26 calculates the angle of the bucket 8 with respect to the arm 7 based on the stroke length of the bucket cylinder 12, and controls the bucket 8 so that the calculated angle becomes the bucket angle P.
  • the work vehicle CM in the embodiment can calculate the angle of the bucket 8 with respect to the arm 7 based on the stroke length of the bucket cylinder 12. Therefore, it is not necessary to provide a detector for detecting the angle of the bucket 8, and an efficient excavation work can be performed by a simple method.
  • the work vehicle CM of the embodiment is provided with a vehicle main 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.
  • a step of receiving an operation command before starting excavation a step of calculating an angle of the bucket 8 with respect to the arm 7 according to the operation command, and a bucket 8 so that the calculated angle becomes a bucket angle P.
  • the controlling step is executed.
  • the method for controlling the work vehicle CM controls the bucket 8 so that the bucket angle P is reached before the start of excavation. Therefore, as shown in FIG. 4, excavation work of the work implement 2 is executed at an excavation angle of a predetermined angle Q at which the value of earth and sand resistance is the minimum value.
  • excavation work of the work implement 2 is executed at an excavation angle of a predetermined angle Q at which the value of earth and sand resistance is the minimum value.

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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)
  • Operation Control Of Excavators (AREA)
PCT/JP2018/005885 2017-02-21 2018-02-20 作業車両および作業車両の制御方法 WO2018155407A1 (ja)

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US16/476,653 US20190338489A1 (en) 2017-02-21 2018-02-20 Work vehicle and method of controlling work vehicle
DE112018000253.5T DE112018000253T5 (de) 2017-02-21 2018-02-20 Bau-Fahrzeug und Verfahren zur Steuerung eines Bau-Fahrzeugs
KR1020197019177A KR20190087617A (ko) 2017-02-21 2018-02-20 작업 차량 및 작업 차량의 제어 방법
CN201880006469.2A CN110168170A (zh) 2017-02-21 2018-02-20 作业车辆及作业车辆的控制方法

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JP2017030421A JP2018135679A (ja) 2017-02-21 2017-02-21 作業車両および作業車両の制御方法

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JP7141899B2 (ja) * 2018-09-13 2022-09-26 日立建機株式会社 作業機械
JP7316052B2 (ja) 2019-01-29 2023-07-27 株式会社小松製作所 作業機械を含むシステム、およびコンピュータによって実行される方法
CN110565732B (zh) * 2019-07-25 2021-07-27 徐州徐工挖掘机械有限公司 液压挖掘机铲斗与斗杆姿态关联系数评价方法
DE102019217008B4 (de) * 2019-11-05 2021-06-10 Zf Friedrichshafen Ag Verfahren zum Beladen eines Ladungsbehälters eines Laderfahrzeugs
CN110905020B (zh) * 2019-12-03 2022-01-28 深知智能科技(金华)有限公司 一种推土机工作装置作业姿态自动调整控制方法及系统
DE102019219307A1 (de) * 2019-12-11 2021-06-17 MTU Aero Engines AG Werkzeug zum bearbeiten eines bauteils
JP2021155980A (ja) * 2020-03-26 2021-10-07 株式会社小松製作所 作業機械および作業機械の制御方法
CN115699796A (zh) * 2020-06-18 2023-02-03 神钢建机株式会社 远程操作辅助装置及远程操作辅助方法
CN112925329A (zh) * 2021-02-01 2021-06-08 上海三一重机股份有限公司 挖掘机作业轨迹规划方法及装置
CN113650685B (zh) * 2021-07-26 2022-11-29 上海三一重机股份有限公司 作业机械的回转控制方法、装置、电子设备及存储介质

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DE112018000253T5 (de) 2019-09-05
KR20190087617A (ko) 2019-07-24

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