WO2022201806A1 - 作業機械および作業機械の制御方法 - Google Patents
作業機械および作業機械の制御方法 Download PDFInfo
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- WO2022201806A1 WO2022201806A1 PCT/JP2022/001968 JP2022001968W WO2022201806A1 WO 2022201806 A1 WO2022201806 A1 WO 2022201806A1 JP 2022001968 W JP2022001968 W JP 2022001968W WO 2022201806 A1 WO2022201806 A1 WO 2022201806A1
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- Prior art keywords
- vehicle body
- deceleration
- control
- state
- distance
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 77
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- 238000013459 approach Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2083—Control of vehicle braking systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- 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
- E02F3/34—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present invention relates to a work machine and a control method for the work machine.
- the area from the wheel loader to the object is divided into three areas, the first area, the second area, and the third area, in order of distance from the object. It slows down in the area and stops in the third area.
- the work machine when working at a construction site, etc., the work machine is often in a relatively unstable state, and if sudden braking is performed in such a state, the state may become even more unstable. have a nature.
- An object of the present disclosure is to provide a work machine and a control method for the work machine that can stably suppress a collision with an object. (means to solve the problem)
- a work machine includes a vehicle body, an object detection section, a state detection section, and a control section.
- the vehicle body has a running body and a work machine arranged on the running body.
- the object detection unit detects objects around the vehicle body.
- the state detection unit detects at least one state of the vehicle main body, tilting or bending, and the work implement.
- the controller sets the deceleration used for automatic braking when an object is detected, based on the relationship between the lateral stability range in which the vehicle body can stop and the position of the center of gravity obtained from the detection information of the state detector.
- a work machine control method includes an object information acquisition step, a state detection step, and a setting step.
- the object information obtaining step obtains information about objects around the vehicle body including the traveling body and the working machine arranged on the traveling body.
- the state detection step detects at least one state of the tilting and bending of the vehicle body and the work implement.
- the setting step sets the deceleration used for automatic braking when an object is detected, based on the relationship between the lateral stability range in which the vehicle body can stop and the position of the center of gravity obtained from the detection information in the state detection step. (Effect of the invention)
- FIG. 1 is a side view of a wheel loader according to an embodiment of the present disclosure
- FIG. FIG. 2 is a configuration diagram of the vicinity of a rear tire of the wheel loader according to the embodiment of the present disclosure, viewed from behind
- 1 is a block diagram showing the configuration of a wheel loader according to an embodiment of the present disclosure
- FIG. 1 is a block diagram showing the configuration of a detection system of a wheel loader according to an embodiment of the present disclosure
- FIG. 2 is a rear view showing the stability range of the wheel loader according to the embodiment of the present disclosure; The figure which shows the state which the boom of the wheel loader of embodiment concerning this indication rotated upward.
- FIG. 2 is a diagram showing a state in which the excavation bucket of the wheel loader according to the embodiment of the present disclosure is loaded; The figure which shows the bending state of the wheel loader of embodiment concerning this indication.
- 1 is a block diagram showing the configuration of a control system of a wheel loader according to an embodiment of the present disclosure
- FIG. FIG. 2 is a side view showing a stopped state by automatic braking of the wheel loader according to the embodiment of the present disclosure
- FIG. 4 is a flowchart showing control operations of the wheel loader according to the embodiment of the present disclosure
- FIG. 4 is a back view showing another example of the stability range of the wheel loader according to the embodiment of the present disclosure;
- FIG. 1A is a schematic diagram showing the configuration of a wheel loader 100 (an example of a working machine) according to this embodiment.
- a wheel loader 100 of the present embodiment has a vehicle body 1, a traveling body 2, and a working machine 3. As shown in FIG. The working machine 3 is arranged on the traveling body 2 .
- the traveling body 2 includes a body frame 10 , a pair of front tires 4 , a cab 5 , an engine room 6 , a pair of rear tires 7 , a counterweight 8 and a pair of steering cylinders 9 .
- “front”, “rear”, “right”, “left”, “up”, and “down” refer to directions when viewed from the driver's seat.
- FIG. 1A the front-back direction is indicated by Z, the front direction is indicated by Zf, and the rearward direction is indicated by Zb.
- FIG. 1B is a rear view of the vicinity of the rear tire 7 of the wheel loader 100 of the present embodiment.
- the wheel loader 100 uses the work machine 3 to perform earth and sand loading work.
- the body frame 10 is of a so-called articulated type, and has a front frame 11, a rear frame 12, and a connecting shaft portion 13.
- the front frame 11 is arranged in front of the rear frame 12 .
- the connecting shaft portion 13 is provided in the center in the vehicle width direction, and connects the front frame 11 and the rear frame 12 to each other so as to be able to swing.
- a front axle 34a (see FIG. 5, which will be described later) is attached to the lower side of the front frame 11 along the left-right direction.
- a pair of front tires 4 are attached to the left and right ends of the front axle 34a.
- a rear axle 34b is attached to the lower side of the rear frame 12 along the left-right direction, as shown in FIG. 1B.
- a pair of rear tires 7 are attached to the left and right ends of the rear axle 34b.
- the rear axle 34b is rotatably attached to the rear frame 12 at a central portion 341 in the left-right direction. As shown in FIG. 1B, the rear axle 34b rotates about the central portion 341 in a roll direction perpendicular to the front-rear direction.
- the rear axle 34b and the rear tires 7 are shown in solid lines when the left rear tire 7 is rotated downward (arrow R2), and the left rear tire 7 is rotated upward (arrow R1).
- a rear axle 34b and a rear tire 7 are indicated by two-dot chain lines. In this way, by providing an oscillating mechanism in which the rear axle 34b rolls with respect to the rear frame 12, it is possible to absorb the effects of unevenness on the ground during running.
- a pair of steering cylinders 9 are arranged on the left and right sides of the connecting shaft portion 13 .
- Each steering cylinder 9 has one end rotatably attached to the front frame 11 and the other end rotatably attached to the rear frame 12 .
- the expansion and contraction of the steering cylinder 9 changes the rotation angle (articulate angle) of the front frame 11 with respect to the rear frame 12 .
- the working machine 3 is driven by hydraulic oil from a working machine pump (not shown).
- the work implement 3 has a boom 14 , a bucket 15 , a lift cylinder 16 and a bucket cylinder 17 .
- the boom 14 is attached to the front frame 11 .
- Bucket 15 is attached to the tip of boom 14 .
- the lift cylinder 16 and bucket cylinder 17 are hydraulic cylinders. One end of the lift cylinder 16 is attached to the front frame 11 and the other end of the lift cylinder 16 is attached to the boom 14 . The expansion and contraction of the lift cylinder 16 swings the boom 14 up and down. One end of the bucket cylinder 17 is attached to the front frame 11 , and the other end of the bucket cylinder 17 is attached to the bucket 15 via a bell crank 18 . As the bucket cylinder 17 expands and contracts, the bucket 15 swings up and down.
- the cab 5 is mounted on the rear frame 12, and has a handle for steering operation, a lever for operating the working machine 3, various display devices, and the like.
- the engine room 6 is arranged on the rear side of the cab 5 and on the rear frame 12, and accommodates an engine 31 therein.
- the counterweight 8 is arranged at the rear portion of the rear frame 12 .
- FIG. 2 is a block diagram showing the configuration of the wheel loader 100. As shown in FIG.
- the wheel loader 100 has a drive system 21, a braking system 22, an operation system 23, a notification system 24, a detection system 25, and a control system 26.
- the drive system 21 drives the wheel loader 100 .
- the braking system 22 brakes the wheel loader 100 .
- the operation system 23 is operated by an operator.
- the driving system 21 and the braking system 22 operate based on the operation of the operating system 23 by the operator.
- the notification system 24 notifies the operator based on the detection result of the detection system 25 .
- the detection system 25 detects the state of the vehicle body 1 , an object behind the vehicle body 1 , and the speed of the vehicle body 1 .
- the control system 26 operates the drive system 21 , the braking system 22 and the notification system 24 based on the operator's operation on the operation system 23 and detection by the detection system 25 .
- the drive system 21 has an engine 31, an HST 32, a transfer 33, an axle 34, front tires 4 and rear tires 7, and the steering cylinder 9 described above.
- the engine 31 is, for example, a diesel engine, and the driving force generated by the engine 31 drives a pump 32a of an HST (Hydro Static Transmission) 32.
- HST Hydro Static Transmission
- the HST 32 has a pump 32a, a motor 32b, and a hydraulic circuit 32c connecting the pump 32a and the motor 32b.
- the pump 32a is a swash plate type variable displacement pump, and the angle of the swash plate can be changed by a solenoid 32d.
- the pump 32a is driven by the engine 31 to discharge hydraulic oil.
- the discharged hydraulic fluid is sent to the motor 32b through the hydraulic circuit 32c.
- the motor 32b is a swash plate type pump, and the angle of the swash plate can be changed by a solenoid 32e.
- the hydraulic circuit 32c has a first drive circuit 32c1 and a second drive circuit 32c2.
- Hydraulic oil is supplied from the pump 32a to the motor 32b via the first drive circuit 32c1, thereby driving the motor 32b in one direction (for example, forward direction). Hydraulic oil is supplied from the pump 32a to the motor 32b via the second drive circuit 32c2, thereby driving the motor 32b in the other direction (for example, the reverse direction).
- the discharge direction of hydraulic oil to the first drive circuit 32c1 or the second drive circuit 32c2 can be changed by the solenoid 32d.
- the transfer 33 distributes the output from the engine 31 to the front and rear axles 34 .
- a pair of front tires 4 are connected to the front axle 34 and rotate with the distributed output from the engine 31 .
- a pair of rear tires 7 are connected to the axle 34 on the rear side, and are rotated by the distributed output from the engine 31 .
- the braking system 22 includes a service brake valve 41, a brake circuit 42, a parking brake 43, a brake source pressure supply path 44, a shutoff valve 45, an EPC (Electric Proportional Valve) valve 46, a shuttle valve 47, have
- the service brake valve 41 is operated by a brake pedal 54, which will be described later.
- a brake source pressure supply passage 44 is connected to the service brake valve 41 .
- the service brake valve 41 supplies the shuttle valve 47 with hydraulic fluid supplied from the brake source pressure supply passage 44 in the open state.
- the service brake valve 41 stops the supply of hydraulic fluid from the brake source pressure supply passage 44 to the shuttle valve 47 in the closed state.
- the opening of the service brake valve 41 is adjusted according to the amount of operation of the brake pedal 54, and the amount of hydraulic oil supplied to the shuttle valve 47 is changed. For example, when the amount of operation of the brake pedal 54 is large, the amount of hydraulic fluid supplied from the service brake valve 41 to the shuttle valve 47 increases.
- the brake circuits 42 are provided on the front and rear axles 34 .
- the brake circuit 42 is a hydraulic brake, and the greater the amount or pressure of hydraulic fluid supplied from the shuttle valve 47, the stronger the braking force.
- Service brake valve 41 and brake pedal 54 constitute a part of the service brake.
- the parking brake 43 is provided on the transfer 33 .
- a wet multistage brake that can be switched between a braking state and a non-braking state, a disc brake, or the like can be used.
- the shutoff valve 45 is connected to the brake source pressure supply passage 44 .
- the shutoff valve 45 is opened and closed based on instructions from the control system 26 .
- the shutoff valve 45 supplies hydraulic fluid from the brake original pressure supply passage 44 to the EPC valve 46 in the open state.
- the shut-off valve 45 stops the supply of hydraulic oil from the brake original pressure supply passage 44 to the EPC valve 46 in the closed state.
- control system 26 for example, opens the shutoff valve 45 only when the vehicle body 1 is moving backward.
- the control system 26 determines whether the vehicle body 1 moves backward based on the rotation of the wheels and the operation of the FNR lever 52 .
- the EPC valve 46 is arranged in the flow path connecting the shutoff valve 45 and the shuttle valve 47 .
- the EPC valve 46 is opened and closed based on instructions from the control system 26 .
- the EPC valve 46 supplies hydraulic fluid supplied from the shutoff valve 45 to the shuttle valve 47 in the open state.
- the EPC valve 46 stops the supply of hydraulic fluid from the shut-off valve 45 to the shuttle valve 47 in the closed state.
- the opening of the EPC valve 46 is adjusted according to instructions from the control system 26, and the amount of hydraulic oil supplied to the shuttle valve 47 is changed.
- the shuttle valve 47 supplies the brake circuit 42 with the hydraulic oil having the higher pressure, which is the hydraulic oil supplied through the service brake valve 41 or the hydraulic oil supplied through the EPC valve 46 .
- the operation system 23 has an accelerator 51 , an FNR lever 52 , a parking switch 53 , a brake pedal 54 , a return switch 55 and a steering operation section 56 .
- the accelerator 51 is provided inside the cab 5 .
- the operator operates the accelerator 51 to set the throttle opening.
- the accelerator 51 generates an opening degree signal indicating the amount of accelerator operation and transmits it to the control system 26 .
- the control system 26 controls the rotational speed of the engine 31 based on the transmitted signal.
- the FNR lever 52 is provided on the cab 5.
- the FNR lever 52 can be in forward, neutral, or reverse positions.
- An operation signal indicating the position of the FNR lever 52 is sent to the control system 26, and the control system 26 controls the solenoid 32d to switch forward or backward.
- the control system 26 controls the solenoids 32d and 32e to control the swash plates of the pump 32a and motor 32b so as to provide running resistance.
- the parking switch 53 is provided in the cab 5, is a switch that can be switched on and off, and transmits a signal indicating the state to the control system 26.
- the control system 26 puts the parking brake 43 into a braking state or a non-braking state based on the transmitted signal.
- the brake pedal 54 is provided inside the cab 5 .
- a brake pedal 54 adjusts the opening of the service brake valve 41 .
- the return switch 55 is operated by the operator to return from the stopped state after the vehicle body 1 is stopped by automatic braking (an example of avoidance control), which will be described later.
- the automatic brake may also include the braking force generated by the control by turning off the accelerator 51 and the control by the neutral position of the FNR lever 52 .
- the steering operation unit 56 includes a steering wheel, a joystick lever, etc., and changes the bending angle (articulate angle) of the front frame 11 with respect to the rear frame 12 . When the steering operation unit 56 is operated, the steering operation angle is transmitted to the control system 26 .
- the control system 26 sets the steering operation angle to the speed or target angle of the steering cylinder 9 and transmits it to the steering cylinder 9 as a bending operation command.
- the notification system 24 has an alarm device 61 (an example of a notification unit) and an automatic brake activation notification lamp 63 .
- the alarm device 61 issues an alarm to the operator according to an instruction from the control system 26 when an object is detected behind the vehicle body 1 while the vehicle is moving backward based on the detection by the rear detection unit 71 of the detection system 25, which will be described later.
- the notification by the alarm device 61 corresponds to an example of avoidance control.
- the alarm device 61 may have, for example, a lamp and turn on the lamp.
- the alarm device 61 may have a speaker instead of a lamp and emit a sound.
- the warning may be displayed on a display panel such as a monitor.
- the automatic brake operation notification lamp 63 notifies the operator that the automatic brake is in operation and that the return operation by the return switch 55 is required. When the return switch 55 is operated and the automatic brake is released, the automatic brake activation notification lamp 63 is extinguished.
- the automatic brake operation notification lamp 63 is not limited to a lamp, and may sound. Also, the notification may be displayed on a display panel such as a monitor.
- means for informing the operator of information by the informing system 24 can be appropriately selected from lamps, sounds, monitors, and the like.
- FIG. 3 is a block diagram showing the detection system 25. As shown in FIG.
- the detection system 25 has a rear detection section 71 (an example of an object detection section), a state detection section 72, and a speed sensor 73 (an example of a speed detection section).
- the rear detector 71 detects objects behind the vehicle body 1 .
- the rear detector 71 is attached to, for example, the rear end of the vehicle body 1 as shown in FIG. 1A, but it is not limited to the rear end.
- the rear detector 71 has, for example, a millimeter wave radar. It is possible to measure the distance to an object by detecting how the millimeter waveband radio waves emitted from the transmitting antenna are reflected by the surface of the object and return to the receiving antenna. A detection result by the state detection unit 72 is transmitted to the control system 26, and the control system 26 can determine that an object exists within a predetermined range when the vehicle is moving backward. Note that it is not limited to the millimeter wave radar, and may be, for example, a camera. Automatic braking is performed when the rear detection unit 71 detects that an object exists behind the vehicle while the vehicle is moving backward.
- the state detection unit 72 detects the state of the vehicle body 1 . Based on the detection by the state detection unit 72, the control system 26 considers the stability of traveling when automatic braking is performed using a preset set braking force, and applies an overturn prevention braking force with improved stability. perform automatic braking.
- the deceleration when braking with the set braking force is defined as the set deceleration
- the deceleration when braking with the overturn prevention braking force is defined as the overturn prevention deceleration. Note that the overturn prevention deceleration is set to be smaller than the set deceleration.
- the state of the vehicle body 1 used for determining stability is, for example, (1) the tilt angle of the wheel loader 100, (2) the attitude of the work implement 3, (3) the state of the load, and (4) the articulation angle. can be mentioned.
- FIG. 4 is a diagram showing the wheel loader 100 arranged on the inclined surface S.
- FIG. In FIG. 4, the wheel loader 100 is inclined in the left-right direction (width direction).
- FIG. 5 is a diagram schematically showing the back surface of the wheel loader 100. As shown in FIG. FIG. 5 is a diagram of the rear surface of the wheel loader 100 viewed from a direction perpendicular to the inclined surface.
- the state detector 72 has a vehicle body angle sensor 72f.
- the vehicle body angle sensor 72f is arranged on the vehicle body frame 10 .
- the vehicle body controller 90 of the control system 26 can determine that the wheel loader 100 is arranged on the inclined road surface S based on the detection value detected by the vehicle body angle sensor 72f.
- An IMU Inertial Measurement Unit
- the state detection unit 72 also detects detection values described later in (2) the attitude of the work implement 3, (3) the state of the load, and the articulate angle. A center-of-gravity position gp of the main body 1 is specified.
- the center of gravity of the wheel loader 100 is indicated by gp, and its gravitational vector is indicated by arrow g.
- the stable range R is shown in FIGS. 4 and 5.
- FIG. In FIG. 5, the stable range R is, for example, a first straight line along the center of the front axle 34a, a second straight line connecting the left end of the front axle 34a and the rotation center 34p of the rear axle 34b, and a right end of the front axle 34a. It is set in a substantially triangular range surrounded by a third straight line connecting the rotation center 34p of the rear axle 34b.
- the position of the gravitational vector g shown in FIG. 5 is the position where the gravitational vector g from the center of gravity position gp and the stable range R intersect. It should be noted that the stability range R can be similarly set even when the vehicle body frame 10 is bent.
- Stability is determined based on the position of the gravity vector g from the center of gravity position gp with respect to the stability range R.
- the greater the lateral tilt the less stable the automatic braking.
- the stability gradually decreases, so the overturn prevention deceleration is set small.
- automatic braking is not performed, and only the warning device 61 issues a warning.
- FIG. 4 shows an example in which the wheel loader 100 is tilted in the left-right direction
- the tilt in the front-rear direction may also be determined.
- the stability due to the automatic braking becomes lower.
- the width of the stability range R in the left-right direction widens toward the front. Therefore, for example, in a state where the body frame 10 is arranged on a slope so that the front frame 11 side is higher than the rear frame 12, the position where the gravity vector g and the stable range R intersect moves rearward (gravity vector g'' See), and the stability range in the lateral direction becomes narrower. Thus, longitudinal tilt affects lateral stability.
- FIG. 6 is a diagram showing the wheel loader 100 with the boom 14 rotated upward.
- the state detection unit 72 has, for example, a boom angle sensor 72a (see FIG. 3) in order to detect the attitude of the working machine 3. Based on the angle of the boom 14 detected by the boom angle sensor 72a, the control system 26 calculates the overturn prevention deceleration in consideration of stability.
- the posture of the work implement 3 may be determined by performing image analysis using a camera other than the boom angle sensor 72a.
- the stability due to automatic braking decreases.
- the stability decreases, so the overturn prevention deceleration can be set to decrease.
- the fall prevention deceleration may be decreased linearly or exponentially as the angle of the boom 14 increases.
- FIG. 7 is a diagram showing the wheel loader 100 in a state where the load W is loaded on the bucket 15. As shown in FIG.
- the state detection unit 72 includes a pressure sensor 72b for detecting the pressure of the lift cylinder 16, a boom angle sensor 72a for detecting the pressure of the lift cylinder 16, a boom angle sensor 72a for detecting the state of the load, and a boom angle sensor 72a for detecting whether or not the bucket 15 is in a tilted state. It has a bell crank angle sensor 72d for detecting . Whether or not the bucket 15 is in a tilted state is determined by the length of the bucket cylinder 17 .
- the length of the bucket cylinder 17 is calculated based on a prestored table, and whether or not the bucket 15 is tilted is detected. can be done.
- the control system 26 calculates the fall prevention deceleration in consideration of stability.
- the stability of the automatic braking is reduced.
- the values of the pressure sensor 72b, the boom angle sensor 72a, and the length of the bucket cylinder 17 increase, the stability decreases, so the fall prevention speed can be set to decrease.
- the overturn prevention speed may be calculated by weighting the values of the pressure sensor 72b, the boom angle sensor 72a, and the length of the bucket cylinder 17.
- a sensor capable of detecting the position of the working machine 3 such as the bucket 15 may be used without using the bell crank angle sensor 72d.
- a camera may be provided to perform image analysis.
- FIG. 8 is a diagram showing the state of the wheel loader 100 in a bent state.
- the state detection unit 72 has an articulate angle sensor 72e for detecting the articulate angle ⁇ , as shown in FIG.
- the articulated angle sensor 72 e detects the tilt angle of the front frame 11 with respect to the rear frame 12 .
- the control system 26 calculates the overturn prevention deceleration in consideration of stability.
- the stability due to automatic braking decreases.
- the stability decreases, so the overturn prevention speed can be set to decrease.
- the fall prevention deceleration may be decreased linearly or exponentially as the articulate angle increases.
- the speed sensor 73 detects the speed of the vehicle body 1 and transmits it to the control system 26.
- FIG. 9 is a block diagram showing the configuration of the control system 26 (an example of the control section) of the wheel loader 100 of this embodiment.
- the control system 26 has a detection controller 80 and a vehicle body controller 90 .
- Each of the detection controller 80 and the vehicle body controller 90 includes a processor such as a CPU (Central Processing Unit), a main memory including a non-volatile memory such as ROM (Read Only Memory) and a volatile memory such as RAM (Random Access Memory). Including memory and storage.
- the detection controller 80 and the vehicle body controller 90 read programs stored in the storage, develop them in the main memory, and execute predetermined processing according to the programs.
- detection controller 80 and vehicle body controller 90 each have a CPU, but detection controller 80 and vehicle body controller 90 may have a single CPU as a whole.
- the program may be distributed to the detection controller 80 and the vehicle body controller 90 via a network.
- the detection controller 80 acquires information on the object detected by the rear detector 71 .
- the vehicle body controller 90 executes control of automatic braking.
- the detection controller 80 has an object information acquisition section 81 and a distance calculation section 82 .
- the object information acquisition unit 81 acquires information on the target object (target object) to stop detected by the rear detection unit 71 .
- the distance calculator 82 calculates the distance x (an example of the relative distance) from the wheel loader 100 to the object based on the information on the object.
- the distance calculation unit 82 can calculate the distance x to the object based on how the millimeter wave band radio waves emitted from the transmission antenna of the rear detection unit 71 return after being reflected by the surface of the object.
- Objects include obstacles such as rocks and houses.
- the vehicle body controller 90 includes a vehicle body information acquisition section 91, an overturn prevention deceleration calculation section 92, a storage section 93, a control deceleration setting section 94, a braking time calculation section 95, a control start distance calculation section 96, a control and an instruction unit 97 .
- the vehicle body information acquisition section 91 acquires the vehicle body information detected by the state detection section 72 and the vehicle body speed v 0 detected by the speed sensor 73 .
- the overturn prevention deceleration calculation unit 92 obtains the stability from the acquired vehicle body information and the vehicle body speed v 0 , and also considers the safety factor to reduce the overturn prevention deceleration of the wheel loader 100 during automatic braking. speed).
- the overturn prevention deceleration is the deceleration due to the overturn prevention braking force as described above.
- the overturn prevention deceleration calculator 92 identifies the center-of-gravity position gp and the stable range R of the vehicle body 1 from the acquired vehicle body information, obtains the intersection of the gravity vector from the center-of-gravity position gp and the stable range R, and determines the intersection point. Find the stability based on the position of The overturn prevention deceleration is calculated by adding the safety factor to the obtained stability.
- the storage unit 93 is a memory provided in the vehicle body controller 90 and stores a preset set deceleration.
- the set deceleration is a value set in advance based on the hardware capability of the brake circuit 42, etc., and is the deceleration due to the set brake force as described above.
- the control deceleration setting unit 94 selects the smaller deceleration from the overturn prevention deceleration and the set deceleration, and sets the selected deceleration as the deceleration (control deceleration) when controlling the automatic brake. As a result, if there is a possibility that the wheel loader 100 will overturn when the automatic braking is performed at the set deceleration set in advance, the automatic braking can be performed at the overturn prevention deceleration.
- the braking time calculator 95 calculates the time until the wheel loader 100 stops from the vehicle body speed and controlled deceleration (an example of deceleration). Specifically, when the vehicle body speed is v0 , the control deceleration is a, and the braking time until the wheel loader 100 stops is t', (Equation 1) holds.
- the control start distance calculation unit 96 calculates the distance from the object for starting control of the automatic brake. If the distance traveled by the wheel loader 100 until it stops is x', (Formula 2) is established.
- control start distance calculator 96 obtains the distance xc (alarm control start distance from the object) for starting the warning.
- the warning control start distance xc (an example of the start distance) can be set based on the automatic brake control start distance xb.
- the distance xc can be set larger than the automatic brake control start distance xb.
- the warning control start distance xc is set to be farther from the object than the automatic brake control start distance xb, and the warning can be used as a preliminary warning before starting the automatic braking.
- FIG. 10 is a diagram showing the distance from the object M of the wheel loader 100.
- the control instruction unit 97 issues an alarm instruction to the alarm device 61 when the distance x calculated by the distance calculation unit 82 reaches the alarm control start distance xc calculated by the control start distance calculation unit 96 . This causes the alarm device 61 to issue an alarm.
- the control instruction unit 97 instructs the shut-off valve 45 and the EPC valve 46 to open so that the opening degree becomes the control deceleration a.
- the brake pedal 54 is not operated, hydraulic oil is supplied to the brake circuit 42 via the shuttle valve 47, and braking is performed at the controlled deceleration a.
- the wheel loader 100 stops at a distance xt from the object M, as shown in FIG.
- the wheel loader 100 in a stopped state is indicated by a chain double-dashed line.
- control instruction unit 97 When the control instruction unit 97 starts controlling the automatic braking, it instructs the automatic braking operation notification lamp 63 to turn on.
- control instruction unit 97 instructs the automatic brake operation notification lamp 63 to turn off.
- FIG. 11 is a flow chart showing the control operation of the wheel loader 100 of this embodiment.
- the object information acquisition section 81 acquires information on the object M from the rear detection section 71 .
- the object information acquisition unit 81 receives information about an object within a predetermined range from the rear detection unit 71 while detecting that the vehicle is moving backward, the object information acquisition unit 81 transmits the received information about the object to the distance calculation unit 82 . do.
- the object information acquisition unit 81 detects that the vehicle main body 1 is in a reversed state, for example, when the front tire 4 or the rear tire 7 is rotating rearward, or the FNR lever 52 is in the reversed position.
- step S20 the vehicle body information acquisition section 91 acquires the vehicle body information detected by the state detection section 72 and the vehicle body speed v0 detected by the speed sensor 73.
- the vehicle body information includes (1) the tilt angle of the wheel loader 100, (2) the attitude of the work implement 3, (3) the state of the load, and (4) the articulate angle, as described above.
- step S30 the distance calculation unit 82 calculates the distance x from the wheel loader 100 to the object M based on the information on the object.
- step S40 the rollover prevention deceleration calculation unit 92 calculates the deceleration that prevents the wheel loader 100 from falling (turnover prevention deceleration) from the acquired vehicle body information, taking into account the safety factor.
- step S50 the control deceleration setting unit 94 selects the smaller deceleration from the overturn prevention deceleration and the set deceleration stored in the storage unit 93, and uses the selected deceleration to control the automatic brake. Set as the deceleration (control deceleration a) for execution.
- step S60 the braking time calculator 95 calculates the time t' from the vehicle body speed v0 and the controlled deceleration a to the stop of the wheel loader 100 using (Equation 1).
- step S70 the control start distance calculator 96 calculates the automatic brake control start distance xb using (Equation 1) to (Equation 5) from the vehicle body speed v 0 , the control deceleration a, and the braking time t′. Calculate Further, the control start distance calculator 96 calculates an alarm control start distance xc for starting an alarm based on the automatic brake control start distance xb.
- step S80 the control instruction unit 97 instructs the alarm device 61 to issue an alarm when the distance x calculated by the distance calculation unit 82 reaches the alarm control start distance xc calculated by the control start distance calculation unit 96.
- the shut-off valve 45 is instructed to open, and the EPC valve 46 is instructed to open so that the opening becomes the control deceleration a.
- the alarm device 61 operates to start an alarm. and the wheel loader 100 stops at a distance xt from the object M.
- a wheel loader 100 (an example of a working machine) according to the present embodiment includes a vehicle body 1, a rear detection section 71 (an example of an object detection section), a state detection section 72, and a control system 26 (an example of a control section). and
- the vehicle body 1 has a running body 2 and a working machine 3 arranged on the running body 2 .
- the rear detector 71 detects an object M around the vehicle body 1 .
- State detection unit 72 detects at least one state of inclination or bending of vehicle body 1 and work implement 3 .
- the control system 26 determines the control deceleration used for automatic braking when the object M is detected, based on the relationship between the lateral stability range R in which the vehicle body 1 can stop and the center of gravity position gp, which is obtained from the detection information of the state detection unit 72.
- Set a an example of deceleration).
- avoidance control (automatic braking or warning by the warning device 61) can be executed when the object M is detected using the deceleration according to the lateral stability of the vehicle body 1.
- the vehicle body 1 is in an inclined state with low stability in the lateral direction. In addition, it can be detected that the vehicle body 1 is in a bent state with low stability in the lateral direction. Further, it is possible to detect that the vehicle body 1 is in the state of the work implement 3 with low stability in the lateral direction.
- Wheel loader 100 (an example of a working machine) according to the present embodiment further includes speed sensor 73 (an example of a speed detection unit).
- a speed sensor 73 detects the speed of the vehicle body 1 .
- the control system 26 determines the automatic brake control start distance xb (an example of the start distance) from the object M at which avoidance control for avoiding collision with the object M is started. is set, and avoidance control is executed based on the relative distance x from the vehicle body 1 to the object M and the automatic brake control start distance xb.
- automatic braking is performed as avoidance control
- automatic braking is performed with a control braking force that takes into consideration the stability of the vehicle body 1 in the lateral direction, so the vehicle body 1 decelerates in consideration of the stability in the lateral direction. be able to.
- the avoidance control can be performed based on the braking distance corresponding to the controlled braking force. can. Therefore, collision with the object M can be suppressed in a stable running state.
- the control system 26 (an example of the control unit) includes a preset deceleration (an example of the first deceleration) for use in automatic braking, and the center of gravity with respect to the stable range R This is compared with the overturn prevention deceleration (an example of the second deceleration) set based on the position gp, and the smaller one is set as the controlled deceleration (an example of the deceleration).
- the automatic braking control start distance xb is set using the rollover prevention deceleration set based on the state of the vehicle body 1, avoidance control can be performed based on the braking distance extended by the rollover prevention deceleration. .
- the control system 26 sets the overturn prevention deceleration according to the comparison between the gravity vector g from the gravity center position gp of the vehicle body 1 and the stable range R. As a result, it is possible to set the overturn prevention deceleration that allows the vehicle to be decelerated while traveling stably without overturning.
- avoidance control includes control for operating automatic braking with controlled braking force.
- the automatic braking can be activated by deceleration by the control braking force so as to suppress overturning according to the state of the vehicle body 1 .
- the wheel loader 100 further includes an alarm device 61 (an example of an alarm unit).
- the alarm device 61 notifies that the object M has been detected.
- the avoidance control includes control for performing notification by the alarm device 61 .
- the operator can be notified of the detection of the object M, and the operator can operate to avoid collision with the object M.
- the control system 26 uses the speed and deceleration a of the traveling body 2 to determine the distance at which the vehicle body 1 can be stopped at a predetermined distance xt before the object M as the automatic brake control start distance. Set as xb.
- the collision with the object M can be suppressed by performing avoidance control based on the automatic braking control start distance xb.
- avoidance control includes control for operating automatic braking with controlled braking force.
- the control system 26 operates the automatic brake with the controlled brake force.
- the vehicle can stop in front of the object M by activating the automatic brake with the control braking force.
- the wheel loader 100 further includes an alarm device 61 (an example of an alarm unit).
- the alarm device 61 notifies that the object M has been detected.
- Avoidance control further includes control for performing notification by the alarm device 61 .
- the control system 26 issues a notification using the warning device 61 .
- the warning control start distance xc at which the warning device 61 notifies is set to a distance farther from the object M than the automatic brake control start distance xb at which automatic braking is actuated.
- the operator can be preliminarily notified by the alarm device 61 that the automatic braking control start distance xb at which automatic braking is started is reached.
- the state of work implement 3 includes at least one of the posture of work implement 3 and the state of the load on work implement 3 .
- vehicle body 1 has vehicle body frame 10 , front axle 34 a , rear axle 34 b , a pair of front tires 4 , and a pair of rear tires 7 .
- the body frame 10 has a front frame 11 to which the working machine 3 is attached, and a rear frame 12 to which the counterweight 8 is arranged and which is connected to the rear side of the front frame 11 .
- the front axle 34 a is connected to the front frame 11 .
- the rear axle 34b is connected to the rear frame 12 so as to be rotatable in the roll direction perpendicular to the front-rear direction.
- a pair of front tires 4 are attached to both ends of the front axle 34a.
- a pair of rear tires 7 are attached to both ends of the rear axle 34b.
- the state detection unit 72 detects the tilt angle of the vehicle body frame 10 as the tilt state of the vehicle body 1 .
- control deceleration during automatic braking can be set according to the lateral stability based on the tilt angle of the vehicle body 1 of the wheel loader 100 having an oscillating mechanism.
- the stable range R is set to a range connecting the rotation center 34p of the rear axle 34b and both ends of the front axle 34a. This makes it possible to set a stable range in consideration of the oscillating mechanism.
- the brake circuit 42 (an example of the service brake) and the EPC valve 46 (an example of the brake valve) capable of adjusting the amount of hydraulic oil supplied to the brake circuit 42 are provided. And further comprising.
- the control system 26 drives the EPC valve 46 and performs automatic braking using the brake circuit 42 .
- the vehicle body 1 can be automatically stopped.
- a control method for wheel loader 100 (an example of a working machine) according to the present embodiment includes step S10 (an example of an object information acquisition step), step S20 (an example of a state detection step), and step S50 (an example of a setting step). And prepare.
- a step S ⁇ b>10 acquires information about the object M around the vehicle body 1 having the traveling body 2 and the work implement 3 arranged on the traveling body 2 .
- a step S20 detects at least one state of the vehicle body 1 tilting, bending, and the work implement.
- the control deceleration a deceleration an example of speed).
- avoidance control (automatic braking or warning by the warning device 61) can be executed when the object M is detected using the deceleration according to the lateral stability of the vehicle body 1.
- the flow path is closed by the shut-off valve 45 except when the vehicle body 1 is moving backward. It may not be necessary, and it may be possible to execute automatic braking even when moving forward.
- the warning device 61 issues a notification at the warning control start distance xc before the automatic brake control start distance xb. may be notified by In short, the warning control start distance should be set based on the calculated automatic brake control start distance xb.
- the warning control start distance xc is set based on the automatic brake control start distance xb, and when the relative distance x reaches the distance xc, the warning device 61 issues a report.
- automatic braking does not start even when the relative distance x reaches the distance xb.
- the operator can, for example, look at the state of the vehicle and step on the brake pedal 54 to generate an appropriate braking force.
- the control system 26 opens the shut-off valve 45 at the same time as the EPC valve 46. However, when it is detected that the vehicle main body 1 is moving in reverse, regardless of whether the object M is detected, The shutoff valve 45 may be opened. In this case, the control system 26 only needs to open the EPC valve 46 when activating the automatic brake.
- the brake circuit 42 of the service brake is used to generate the overturn suppression braking force in the automatic braking, but the internal inertia when the accelerator 51 is turned off or the FNR lever 52 is placed at the neutral position.
- Running resistance by the swash plate of the pump 32a and the motor 32b may be used.
- FIG. 12 is a block diagram showing a configuration in which the drive system 21 is provided with a torque converter 132 and a transmission 133. As shown in FIG. Driving force from engine 31 is transmitted to transmission 133 via torque converter 132 . The transmission 133 shifts the rotational driving force of the engine 31 transmitted via the torque converter 132 and transmits it to the axle 34 . The transmission 133 is provided with a parking brake 43 .
- the overturn prevention braking force may be generated by adjusting the opening of the EPC valve 46 .
- the overturn prevention braking force may be generated by turning off the accelerator 51 .
- HMT Hydro Mechanical Transmission
- a service brake using the service brake valve 41, a parking brake 43, or other means for changing the braking force can be appropriately applied.
- the brakes such as the service brake and the parking brake 43 may be combined with the internal inertia of the prime mover.
- the wheel loader of the above embodiment may be operated by an operator on board, or may be operated unmanned.
- a wheel loader is used as an example of a working machine, but the working machine is not limited to a wheel loader, and may be a hydraulic excavator or the like.
- the steering angle may be detected instead of the articulated angle as the vehicle body information and used to set the overturn prevention deceleration.
- the stable range R has a substantially triangular shape when viewed from the bottom, but is not limited to this.
- the stability range R shown in FIG. A range surrounded by a third straight line that connects and intersects the first straight line and the second straight line, and a fourth straight line that connects the right end of the front axle 34a and the right end of the rear axle 34b and intersects the first straight line and the second straight line is set.
- the stable range R may be formed in a rectangular shape.
- the effect of being able to suppress collisions with objects in a stable state is exhibited, and it is useful as a wheel loader or the like.
- Reference Signs List 1 vehicle body 2: traveling body 3: working machine 26: control system 71: rear detector 72: state detector 73: speed sensor
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Abstract
Description
(課題を解決するための手段)
(発明の効果)
図1Aは、本実施の形態のホイールローダ100(作業機械の一例)の構成を示す模式図である。本実施の形態のホイールローダ100は、車両本体1に、走行体2と作業機3を有する。作業機3は、走行体2に配置されている。走行体2は、車体フレーム10と、一対のフロントタイヤ4、キャブ5、エンジンルーム6、一対のリアタイヤ7、カウンタウェイト8、および一対のステアリングシリンダ9と、を備えている。なお、以下の説明において、「前」、「後」、「右」、「左」、「上」、及び「下」とは運転席から前方を見た状態を基準とする方向を示す。また、「車幅方向」と「左右方向」と「横方向」は同義である。図1Aでは、前後方向をZで示し、前方向を示すときはZf、後方向を示すときはZbで示す。図1Bは、本実施の形態のホイールローダ100のリアタイヤ7近傍を後方から視た図である。
駆動系21は、エンジン31と、HST32と、トランスファ33と、アクスル34と、フロントタイヤ4およびリアタイヤ7と、上述したステアリングシリンダ9と、を有する。
制動系22は、サービスブレーキ弁41と、ブレーキ回路42と、パーキングブレーキ43と、ブレーキ元圧供給路44と、シャットオフ弁45と、EPC(Electric Proportional Valve)弁46と、シャトル弁47と、を有する。
操作系23は、アクセル51と、FNRレバー52と、パーキングスイッチ53と、ブレーキペダル54と、復帰スイッチ55と、ステアリング操作部56と、を有する。
ステアリング操作部56は、ステアリングホイール、ジョイスティックレバー等を含み、リアフレーム12に対するフロントフレーム11の屈曲角度(アーティキュレート角度)を変更する。ステアリング操作部56が操作されると、ステアリング操作角が制御系26に送信される。制御系26は、ステアリング操作角を、ステアリングシリンダ9の速度または目標角度に設定し、ステアリングシリンダ9に屈曲操作指令として送信する。
報知系24は、警報装置61(報知部の一例)と、自動ブレーキ作動通知ランプ63と、を有する。
図3は、検出系25を示すブロック図である。
状態検出部72は、後述する(2)作業機3の姿勢、(3)荷の状態、およびアーティキュレート角度で説明する検出値も検出し、これらの検出値に基づいて制御系26において、車両本体1の重心位置gpが特定される。
図5では、安定範囲Rは、例えば、フロントアクスル34aの中心に沿った第1直線、フロントアクスル34aの左端とリアアクスル34bの回動中心34pを結ぶ第2直線と、フロントアクスル34aの右端とリアアクスル34bの回動中心34pを結ぶ第3直線とによって囲まれる略三角形状の範囲に設定されている。図5に示されている重力ベクトルgの位置は、重心位置gpからの重力ベクトルgと安定範囲Rが交わる位置である。なお、車体フレーム10が屈曲している場合でも同様に安定範囲Rを設定することができる。
図6は、ブーム14が上方向に回動した状態のホイールローダ100を示す図である。
図7は、バケット15に荷Wを積んでいる状態のホイールローダ100を示す図である。
図8は、屈曲している状態のホイールローダ100の状態を示す図である。
図9は、本実施の形態のホイールローダ100の制御系26(制御部の一例)の構成を示すブロック図である。
制御系26は、検知コントローラ80と、車体コントローラ90と、を有する。
そのため、t´=v0/aを計算することによって、制動時間t´を求めることができる。
(式2)のt´に上述した(式1)のv0/aを代入することにより、次の式(3)が導かれる。
自動ブレーキをかける際の物体までの目標停止距離をxtとし、自動ブレーキをかけ始める位置(物体からの距離)をxbとすると、次の(式4)が成り立つ。
(式4)のx´に(式3)の(1/2)v0 2/aを代入すると、次の(式5)が導かれる。
(式5)より、自動ブレーキをかけ始める位置である自動ブレーキ制御開始距離xb(開始距離の一例)を求めることができる。
次に、本実施の形態のホイールローダ100の制御動作について説明する。
(1)
本実施の形態にかかるホイールローダ100(作業機械の一例)は、車両本体1と、後方検出部71(物体検出部の一例)と、状態検出部72と、制御系26(制御部の一例)とを備える。車両本体1は、走行体2と、走行体2に配置された作業機3と、を有する。後方検出部71は、車両本体1の周囲の物体Mを検出する。状態検出部72は、車両本体1の傾斜、屈曲、および作業機3の少なくとも1つの状態を検出する。制御系26は、状態検出部72の検出情報から求められる車両本体1が停止できる横方向の安定範囲Rと重心位置gpの関係に基づき、物体Mを検出した際の自動ブレーキに用いる制御減速度a(減速度の一例)を設定する。
本実施の形態にかかるホイールローダ100(作業機械の一例)は、速度センサ73(速度検出部の一例)を更に備える。速度センサ73は、車両本体1の速度を検出する。制御系26は、制御減速度aと車両本体1の速度v0に基づいて、物体Mとの衝突を回避する回避制御を開始する物体Mからの自動ブレーキ制御開始距離xb(開始距離の一例)を設定し、車両本体1から物体Mまでの相対距離xと自動ブレーキ制御開始距離xbに基づいて回避制御を実行する。
本実施の形態にかかるホイールローダ100では、制御系26(制御部の一例)は、自動ブレーキに用いるために予め設定された設定減速度(第1減速度の一例)と、安定範囲Rに対する重心位置gpに基づいて設定された転倒抑制減速度(第2減速度の一例)とを比較し、小さい方を制御減速度(減速度の一例)として設定する。
本実施の形態にかかるホイールローダ100では、制御系26は、車両本体1の重心位置gpからの重力ベクトルgと、安定範囲Rとの比較に応じて転倒抑制減速度を設定する。
これにより、横転せずに安定した走行で減速可能な転倒抑制減速度を設定することができる。
本実施の形態にかかるホイールローダ100では、回避制御は、制御ブレーキ力で自動ブレーキを作動する制御を含む。
本実施の形態にかかるホイールローダ100は、警報装置61(報知部の一例)を更に備える。警報装置61は、物体Mを検出したことを報知する。回避制御は、警報装置61による報知を行う制御を含む。
本実施の形態にかかるホイールローダ100では、制御系26は、走行体2の速度および減速度aを用いて物体Mから所定距離xt手前で車両本体1が停止できる距離を、自動ブレーキ制御開始距離xbとして設定する。
本実施の形態にかかるホイールローダ100では、回避制御は、制御ブレーキ力で自動ブレーキを作動する制御を含む。制御系26は、相対距離xが、自動ブレーキ制御開始距離xbに達すると、制御ブレーキ力で自動ブレーキを作動する。
本実施の形態にかかるホイールローダ100は、警報装置61(報知部の一例)を更に備える。警報装置61は、物体Mを検出したことを報知する。回避制御は、警報装置61による報知を行う制御を更に含む。制御系26は、相対距離xが、警報制御開始距離xcに達すると、警報装置61による報知を行う。警報装置61による報知を行う警報制御開始距離xcは、自動ブレーキを作動する自動ブレーキ制御開始距離xbより物体Mから遠い距離に設定されている。
本実施の形態のホイールローダ100では、作業機3の状態は、作業機3の姿勢および作業機3の積み荷の状態の少なくとも一方を含む。
本実施の形態のホイールローダ100では、車両本体1は、車体フレーム10と、フロントアクスル34aと、リアアクスル34bと、一対のフロントタイヤ4と、一対のリアタイヤ7と、を有する。車体フレーム10は、作業機3が取り付けられたフロントフレーム11と、カウンタウェイト8が配置され、フロントフレーム11の後側に連結されたリアフレーム12と、を有する。フロントアクスル34aは、フロントフレーム11に接続されている。リアアクスル34bは、前後方向に対して垂直なロール方向に回動可能にリアフレーム12に接続されている。一対のフロントタイヤ4は、フロントアクスル34aの両端に取り付けられている。一対のリアタイヤ7は、リアアクスル34bの両端に取り付けられている。状態検出部72は、車両本体1の傾斜状態として、車体フレーム10の傾斜角度を検出する。
本実施の形態のホイールローダ100では、安定範囲Rは、リアアクスル34bの回動中心34pとフロントアクスル34aの両端を結ぶ範囲に設定される。
これにより、オシレート機構を考慮した安定範囲を設定することができる。
本実施の形態のホイールローダ100(作業機械の一例)では、ブレーキ回路42(サービスブレーキの一例)と、ブレーキ回路42への作動油の供給量を調整可能なEPC弁46(ブレーキ弁の一例)と、を更に備える。制御系26は、EPC弁46を駆動しブレーキ回路42を用いて自動ブレーキによる制動を行う。
本実施の形態のホイールローダ100(作業機械の一例)の制御方法は、ステップS10(物体情報取得ステップの一例)と、ステップS20(状態検出ステップの一例)と、ステップS50(設定ステップの一例)と、を備える。ステップS10は、走行体2および走行体2に配置された作業機3を有する車両本体1の周囲の物体Mの情報を取得する。ステップS20は、車両本体1の傾斜、屈曲、および前記作業機の少なくとも1つの状態を検出する。ステップS50は、ステップS20の検出情報から求められる車両本体1が停止できる横方向の安定範囲Rと重心位置gpの関係に基づき、物体Mを検出した際の自動ブレーキに用いる制御減速度a(減速度の一例)を設定する。
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。
上記実施の形態のホイールローダ100では、車両本体1が後進時以外では、シャットオフ弁45によって流路を閉じた状態とすることによって、後進時にのみ自動ブレーキを実行可能としているが、後進時に限らなくてもよく、前進時にも自動ブレーキを実行可能としてもよい。
上記実施の形態のホイールローダ100では、自動ブレーキ制御開始距離xbよりも手前の警報制御開始距離xcで警報装置61による報知を行っているが、自動ブレーキ制御開始距離xbと同じ位置で警報装置61による報知を行ってもよい。要するに、算出された自動ブレーキ制御開始距離xbに基づいて警報制御開始距離が設定されればよい。
上記実施の形態のホイールローダ100では、回避制御として、自動ブレーキの制御と警報装置61による発報の双方を実行しているが、どちらか一方だけであってもよい。
上記実施の形態では、制御系26がEPC弁46と同時にシャットオフ弁45を開状態にしているが、車両本体1が後進状態であることを検出した場合には、物体Mの検出にかかわらずシャットオフ弁45を開状態にしてもよい。この場合、制御系26は、自動ブレーキを作動させる際にEPC弁46を開状態に制御するだけでよい。
上記実施の形態では、サービスブレーキのブレーキ回路42を用いて自動ブレーキにおける転倒抑制ブレーキ力を生じさせているが、アクセル51をオフにした際の内部慣性またはFNRレバー52をニュートラルの位置に配置した場合のポンプ32aとモータ32bの斜板による走行抵抗を用いてもよい。
上記実施の形態では、駆動系21にHST32を用いているが、HSTに限らなくても良く、トルクコンバータであってもよい。図12は、駆動系21にトルクコンバータ132とトランスミッション133が設けられた構成を示すブロック図である。エンジン31からの駆動力はトルクコンバータ132を介してトランスミッション133に伝達される。トランスミッション133は、トルクコンバータ132を介して伝達されるエンジン31の回転駆動力を変速してアクスル34に伝達する。トランスミッション133には、パーキングブレーキ43が設けられている。
また、サービスブレーキ、パーキングブレーキ43等のブレーキと原動機側の内部慣性を任意に組み合わせてもよい。
上記実施の形態のホイールローダはオペレータが搭乗して操作してもよいし、無人で操作されてもよい。
上記実施の形態では、作業機械の一例としてホイールローダを用いて説明したが、ホイールローダに限らなくてもよく、油圧ショベル等であってもよい。アーティキュレート式ではない作業機械の場合、車体情報としてアーティキュレート角度に代えてステアリング角度を検出して転倒抑制減速度の設定に用いてもよい。
上記実施の形態では、安定範囲Rは、底面視において略三角形状であるが、これに限られるものではない。例えば、図13に示す安定範囲Rは、フロントアクスル34aの中心軸に沿った第1直線、リアアクスル34bの中心軸に沿った第2直線と、フロントアクスル34aの左端とリアアクスル34bの左端を結び、且つ第1直線および第2直線に交わる第3直線と、フロントアクスル34aの右端とリアアクスル34bの右端を結び、且つ第1直線および第2直線に交わる第4直線とによって囲まれる範囲に設定されている。
このように、安定範囲Rは、長方形状に形成されていてもよい。
2 :走行体
3 :作業機
26 :制御系
71 :後方検出部
72 :状態検出部
73 :速度センサ
Claims (14)
- 走行体と、前記走行体に配置された作業機と、を有する車両本体と、
前記車両本体の周囲の物体を検出する物体検出部と、
前記車両本体の傾斜、屈曲、および前記作業機の少なくとも1つの状態を検出する状態検出部と、
前記状態検出部の検出情報から求められる前記車両本体が停止できる横方向の安定範囲と重心位置の関係に基づき、前記物体を検出した際の自動ブレーキに用いる減速度を設定する制御部と、を備えた、
作業機械。 - 前記車両本体の速度を検出する速度検出部を更に備え、
前記制御部は、前記減速度と前記車両本体の速度に基づいて前記物体との衝突を回避する回避制御を開始する前記物体からの開始距離を設定し、前記車両本体から前記物体までの相対距離と前記開始距離に基づいて前記回避制御を実行する、
請求項1に記載の作業機械。 - 前記制御部は、前記自動ブレーキに用いるために予め設定された第1減速度と、前記安定範囲に対する前記重心位置に基づいて設定された第2減速度とを比較し、前記第1減速度と前記第2減速度のうち小さい方を前記減速度として設定する、
請求項1または2に記載の作業機械。 - 前記制御部は、前記車両本体の重心位置からの重力ベクトルと、前記安定範囲との比較に応じて前記第2減速度を設定する、
請求項3に記載の作業機械。 - 前記回避制御は、前記減速度で自動ブレーキを作動する制御を含む、
請求項2に記載の作業機械。 - 前記物体を検出したことを報知する報知部を更に備え、
前記回避制御は、前記報知部による報知を行う制御を含む、
請求項2に記載の作業機械。 - 前記制御部は、前記走行体の速度および前記減速度を用いて前記物体から所定距離手前で前記車両本体が停止できる距離を、前記開始距離として設定する、
請求項2に記載の作業機械。 - 前記回避制御は、前記減速度で前記自動ブレーキを作動する制御を含み、
前記制御部は、前記相対距離が前記開始距離に達すると、前記減速度で前記自動ブレーキを作動する、
請求項7に記載の作業機械。 - 前記物体を検出したことを報知する報知部を更に備え、
前記回避制御は、前記報知部による報知を行う制御を更に含み、
前記制御部は、前記相対距離が前記開始距離に達すると、前記報知部による報知を行い、
前記報知部による報知を行う前記開始距離は、前記自動ブレーキを作動する前記開始距離より前記物体から遠い距離に設定されている、
請求項8に記載の作業機械。 - 前記作業機の状態は、前記作業機の姿勢および前記作業機の積み荷の状態の少なくとも一方を含む、
請求項1~9のいずれか1項に記載の作業機械。 - 前記車両本体は、
前記作業機が取り付けられたフロントフレームと、カウンタウェイトが配置され、前記フロントフレームの後側に連結されたリアフレームと、を有する車体フレームと、
前記フロントフレームに接続されたフロントアクスルと、
前後方向に対して垂直なロール方向に回動可能に前記リアフレームに接続されたリアアクスルと、
前記フロントアクスルの両端に取り付けられた一対のフロントタイヤと、
前記リアアクスルの両端に取り付けられた一対のリアタイヤと、を有し、
前記状態検出部は、前記車両本体の傾斜状態として、前記車体フレームの傾斜角度を検出する、
請求項1~10のいずれか1項に記載の作業機械。 - 前記安定範囲は、前記リアアクスルの回動中心と前記フロントアクスルの両端を結ぶ範囲に設定される、
請求項11に記載の作業機械。 - サービスブレーキと、
前記サービスブレーキへの作動油の供給量を調整可能なブレーキ弁と、を更に備え、
前記制御部は、前記ブレーキ弁を駆動し前記サービスブレーキを用いて自動ブレーキによる制動を行う、
請求項1~12のいずれか1項に記載の作業機械。 - 走行体および前記走行体に配置された作業機を有する車両本体の周囲の物体の情報を取得する物体情報取得ステップと、
前記車両本体の傾斜、屈曲、および前記作業機の少なくとも1つの状態を検出する状態検出ステップと、
前記状態検出ステップの検出情報から求められる前記車両本体が停止できる横方向の安定範囲と重心位置の関係に基づき、前記物体を検出した際の自動ブレーキに用いる減速度を設定する設定ステップと、を備えた、
作業機械の制御方法。
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