WO2022202027A1 - 作業車両 - Google Patents

作業車両 Download PDF

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Publication number
WO2022202027A1
WO2022202027A1 PCT/JP2022/006765 JP2022006765W WO2022202027A1 WO 2022202027 A1 WO2022202027 A1 WO 2022202027A1 JP 2022006765 W JP2022006765 W JP 2022006765W WO 2022202027 A1 WO2022202027 A1 WO 2022202027A1
Authority
WO
WIPO (PCT)
Prior art keywords
work
correction factor
travel
traveling
arm
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2022/006765
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
正利 吉村
啓之 小林
悟 金子
徳孝 伊藤
聡 関野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
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 Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to KR1020237006034A priority Critical patent/KR102821648B1/ko
Priority to US18/021,202 priority patent/US12467223B2/en
Priority to CN202280005794.3A priority patent/CN116096966A/zh
Priority to EP22774827.4A priority patent/EP4180583B1/en
Publication of WO2022202027A1 publication Critical patent/WO2022202027A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—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
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • 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
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • 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
    • E02F9/2079—Control of mechanical transmission
    • 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
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • the present invention relates to a work vehicle such as a wheel loader used for loading work.
  • a work vehicle such as a wheel loader used for loading work.
  • a wheel loader equipped with a traveling device for moving a vehicle body and a working device having a bucket and an arm for excavating earth and sand is known.
  • a work vehicle excavates and puts earth and sand into a bucket and loads it onto an object to be loaded, such as a dump truck
  • an operation called rise run is performed in which the arm is raised while advancing the vehicle body to the object to be loaded.
  • the operation associated with this rise run requires the operation of an arm control lever, an accelerator pedal, and a brake pedal, requiring complicated operations, which imposes a heavy burden on the operator.
  • moving forward quickly to just before the object to be loaded and raising the arm to the required height just before the object to be loaded improves both transportation efficiency and fuel efficiency. Precise operation is forced according to
  • Patent Literature 1 discloses a value corresponding to a target travel distance for traveling to a position where the excavated material is discharged from the vehicle body after excavation by the bucket, and a value corresponding to a target lift amount for the arm to rise after forward movement is started.
  • a work vehicle is disclosed that controls the transmission torque transmitted from the power generator to the driving wheels so that the is zero.
  • the present invention has been made to solve such technical problems, and an object of the present invention is to provide a work vehicle that can reduce the burden of operation by the operator during loading work.
  • a work vehicle includes: a traveling device that causes a vehicle body to travel; a traveling motor that supplies traveling driving force to the traveling device; A working engine that supplies working driving force to the working device, a traveling state detection device that detects the traveling state of the vehicle body including the vehicle speed and the traveling distance, and a working state that detects the working state of the working device including the angle of the arm.
  • a work vehicle comprising: a state detection device; and a control device for controlling the traveling motor and the working motor, wherein the control device controls the traveling state of the vehicle body detected by the traveling state detecting device and the working state.
  • the state detection device Based on the working state of the working device detected by the state detection device, it is determined whether or not a specific condition for specifying the lifting of the arm during forward travel of the vehicle body during loading work is satisfied, and the specific condition is determined. If it is determined that the conditions are satisfied, the vehicle speed and the travel distance detected by the travel state detection device, the arm angle detected by the work state detection device, a preset target travel distance, and a preset target A traveling correction factor for adjusting the traveling driving force and a work correction factor for adjusting the working driving force are set based on the arm angle, and the set traveling correction factor and the work correction factor are set. Based on this, the traveling driving force of the traveling motor and the working driving force of the working motor are controlled.
  • the control device includes a vehicle speed and a travel distance detected by the travel state detection device, an arm angle detected by the work state detection device, a preset target travel distance, and a preset target travel distance.
  • a travel correction factor and a work correction factor are set based on the target arm angle, and the travel driving force of the travel motor and the work driving force of the work motor are controlled based on the set travel correction factor and work correction factor. .
  • FIG. 1 is a side view showing a work vehicle according to a first embodiment
  • FIG. 1 is a system configuration diagram showing a work vehicle according to a first embodiment
  • FIG. FIG. 4 is a diagram for explaining a basic transportation operation of the work vehicle
  • FIG. 10 is a diagram for explaining an operation associated with rise run
  • 3 is a block diagram showing a main controller of the work vehicle
  • FIG. It is a figure for explaining a bucket angle. It is a figure which shows an example of the table which sets a correction factor.
  • FIG. 5 is a diagram showing the relationship between the amount of lever operation and the required pump flow rate
  • FIG. 4 is a diagram showing the relationship between the rotation speed of a traveling electric motor and required traveling torque
  • 4 is a flowchart showing control processing of a main controller
  • FIG. 5 is a diagram for explaining the effect of the work vehicle according to the first embodiment (comparison with a comparative example);
  • FIG. 9 is a diagram for explaining the effect of the work vehicle according to the second embodiment (comparison with a comparative example);
  • FIG. 11 is a block diagram showing a main controller of the work vehicle according to the third embodiment;
  • FIG. 1 is a side view showing the working vehicle according to the first embodiment.
  • the work vehicle 1 of the present embodiment is, for example, an electrically driven wheel loader, and includes a vehicle body 8 on which an electrically driven travel device 11 is mounted and a and an articulated work device 6 .
  • the vehicle body 8 is of an articulated steering type (body bending type) and has a front vehicle body 8A, a rear vehicle body 8B, and a center joint 8C connecting the front vehicle body 8A and the rear vehicle body 8B.
  • the working device 6 is attached to the front vehicle body 8A, and the operator's cab 12 and the engine compartment 16 are arranged in the rear vehicle body 8B.
  • the operator's cab 12 is provided with various operating members (51 to 58) for the operator to operate the work vehicle 1, and the engine compartment 16 is provided with the engine 20, hydraulic pumps 30A, 30B, 30C, valves, etc. of hydraulic equipment are housed (see Fig. 2).
  • the work device 6 includes a pair of left and right arms (also referred to as lift arms) 2 attached to the front vehicle body 8A so as to be rotatable in the vertical direction, and a tip portion of the arm 2 which is connected to the arm 2 so as to be rotatable in the vertical direction. and bucket 3.
  • a Z-link type (bell crank type) link mechanism is employed as the link mechanism for operating the bucket 3 .
  • FIG. 2 is a system configuration diagram showing the work vehicle according to the first embodiment.
  • the work vehicle 1 includes an engine 20, a generator motor 40 mechanically connected to the engine 20, and hydraulic pumps 30A, 30B, and 30C mechanically connected to the engine 20 and the generator motor 40.
  • the arm cylinder 4 and the bucket cylinder 5 driven by hydraulic fluid discharged from the hydraulic pump 30A
  • the front control unit 31 controlling the hydraulic fluid discharged from the hydraulic pump 30A
  • a brake cylinder 17 and a parking brake cylinder 18 that are driven by oil
  • a brake control unit 32 that controls the hydraulic oil discharged from the hydraulic pump 30B
  • a steering cylinder 15 that is driven by the hydraulic oil discharged from the hydraulic pump 30C.
  • a steering control unit 33 that controls the hydraulic oil discharged from the hydraulic pump 30C, and the traveling device 11 that is driven by the electric power generated by the generator motor 40.
  • FIG. 1 includes an engine 20, a generator motor 40 mechanically connected to the engine 20, and hydraulic pumps 30A,
  • the engine 20 is a primary prime mover and is configured by an internal combustion engine such as a diesel engine.
  • the generator motor 40 is rotated by torque output from the engine 20 .
  • the hydraulic pumps 30A, 30B, and 30C are driven by the torque output from the engine 20 and discharge working oil as working fluid.
  • the generator motor 40 functions as an electric motor
  • the hydraulic pumps 30A, 30B, and 30C are driven by torque output from the engine 20 and the generator motor 40.
  • the hydraulic oil discharged from the hydraulic pump 30A is supplied to the arm cylinder 4 and the bucket cylinder 5 via the front control section 31.
  • the front control unit 31 controls the expansion and contraction operations of the arm cylinder 4 and the bucket cylinder 5 by controlling the pressure, speed and flow direction of hydraulic fluid discharged from the hydraulic pump 30A.
  • the arm cylinder 4 is composed of a hydraulic cylinder, and expands and contracts by operating oil supplied from the hydraulic pump 30A, and this expansion and contraction movement rotates the arm 2 in the vertical direction. Arm cylinders 4 are paired so as to correspond to the pair of left and right arms 2 .
  • the bucket cylinder 5 is composed of a hydraulic cylinder, and expands and contracts by operating oil supplied from the hydraulic pump 30A, and rotates the bucket 3 vertically by this expansion and contraction operation.
  • the hydraulic pump 30A constitutes a working motor that supplies the working device 6 with a working driving force.
  • the hydraulic oil discharged from the hydraulic pump 30B is supplied to the brake cylinder 17 and the parking brake cylinder 18 via the brake control section 32.
  • the brake control unit 32 controls the expansion and contraction operations of the brake cylinder 17 and the parking brake cylinder 18 by controlling the pressure, speed and flow direction of hydraulic fluid discharged from the hydraulic pump 30B.
  • the hydraulic fluid discharged from the hydraulic pump 30C is supplied to the steering cylinder 15 via the steering control section 33.
  • the steering control unit 33 controls the expansion and contraction of the steering cylinder 15 by controlling the pressure, speed, and flow direction of hydraulic fluid discharged from the hydraulic pump 30C.
  • the steering cylinders 15 are composed of hydraulic cylinders and are paired left and right, and are provided so as to connect the front vehicle body 8A and the rear vehicle body 8B.
  • the travel device 11 includes front wheels 7A (wheels 7) attached to the front vehicle body 8A, rear wheels 7B (wheels 7) attached to the rear vehicle body 8B, and a power transmission device that transmits power from the travel electric motor 43 to the wheels 7. and The wheels 7 are driven by the traveling electric motor 43 to rotate and move the work vehicle 1 forward and backward.
  • a power transmission device includes, for example, an axle, a differential device, a propeller shaft, and the like.
  • the travel motor 43 constitutes a secondary prime mover, and rotates upon receipt of the electric power generated by the generator motor 40 .
  • the generator motor 40 and the travel motor 43 constitute a travel motor that supplies travel driving force to the travel device 11 .
  • the work vehicle 1 also includes a main controller (control device) 100 that controls the entire vehicle, a generator-motor inverter 41 that controls the generator-motor 40 based on a generated voltage command from the main controller 100, and various operation members (51 to 58) provided in the driver's cab 12.
  • a main controller control device
  • generator-motor inverter 41 that controls the generator-motor 40 based on a generated voltage command from the main controller 100
  • various operation members 51 to 58
  • a forward/reverse switch 51 for switching between forward (F) and reverse (R) of the vehicle body 8, an arm operating lever 52 for operating the arm 2, and a bucket operating lever 53 for operating the bucket 3 are provided.
  • a mode switching switch (mode switching device) 54 for switching between the AUTO mode and the MANUAL mode, a steering wheel 55 for indicating the left and right traveling direction of the vehicle body 8, a parking brake switch 56 for operating the parking brake,
  • An accelerator pedal 58 for accelerating the vehicle body 8 and a brake pedal 57 for decelerating the vehicle body 8 are provided.
  • the front vehicle body 8A bends (steers) left and right about the center joint 8C with respect to the rear vehicle body 8B as the steering cylinder 15 expands and contracts.
  • the mode changeover switch 54 is a switch that can be manually switched between the AUTO mode and the MANUAL mode.
  • the AUTO mode is an execution mode for setting a travel correction factor and a work correction factor, which will be described later. , and the amount of operation of the arm control lever 52 is controlled.
  • the MANUAL mode is a prohibition mode that prohibits setting execution of the travel correction factor and the work correction factor. is an uncontrolled mode.
  • the mode changeover switch 54 has an AUTO mode position and a MANUAL mode position.
  • the mode selector switch 54 When the mode selector switch 54 is operated to the AUTO mode position, it is set to the AUTO mode, and therefore outputs a signal indicating that the AUTO mode is set to the main controller 100 .
  • the mode selector switch 54 when the mode selector switch 54 is operated to the MANUAL mode position, it is set to the MANUAL mode, and therefore outputs a signal indicating that the MANUAL mode is set to the main controller 100 .
  • the main controller 100 includes a CPU (Central Processing Unit) 101 as an operation circuit, a ROM (Read Only Memory) 102 and a RAM (Random Access Memory) 103 as storage devices, an input interface 104, an output interface 105, and other peripherals. It consists of a microcomputer with circuits.
  • the main controller 100 may be composed of one microcomputer, or may be composed of a plurality of microcomputers.
  • the ROM 102 of the main controller 100 is a non-volatile memory such as an EEPROM, and stores programs capable of executing various calculations. That is, the ROM 102 of the main controller 100 is a storage medium capable of reading a program that implements the functions of this embodiment.
  • a RAM 103 is a volatile memory and a work memory for directly inputting/outputting data to/from the CPU 101 .
  • the RAM 103 temporarily stores necessary data while the CPU 101 is executing the program.
  • the main controller 100 may further include a storage device such as a flash memory or hard disk drive.
  • the CPU 101 is a processing device that develops a program stored in the ROM 102 into the RAM 103 and executes arithmetic operations, and performs predetermined arithmetic processing on signals received from the input interface 104, the ROM 102, and the RAM 103 according to the program.
  • Operation signals from various operation members and sensor signals from various sensors are input to the input interface 104 .
  • the input interface 104 converts the input signal so that it can be calculated by the CPU 101 .
  • the output interface 105 generates an output signal according to the calculation result of the CPU 101, and outputs the signal to the front control unit 31, the brake control unit 32, the steering control unit 33, the generator motor inverter 41, and the traveling motor inverter 42. etc.
  • the main controller 100 controls the front control unit 31, the brake control unit 32, the steering control unit 33, the generator-motor inverter 41, and the driving control unit 31 based on an operation signal input by an operator's operation and sensor signals detected by various sensors. It centrally controls the motor inverter 42 .
  • the operation signals input to the main controller 100 include an accelerator signal output from the accelerator pedal 58 representing the operation amount of the accelerator pedal 58, a brake signal output from the brake pedal 57 representing the operation amount of the brake pedal 57, and an arm operation signal.
  • an operation signal input to the main controller 100 there is a mode switching signal output from the mode switching switch 54 that indicates the operation position of the mode switching switch 54.
  • the sensor signals input to the main controller 100 include a signal representing the angle detected by the arm relative angle sensor 62 provided on the connecting shaft that connects the vehicle body 8 and the arm 2, and a signal representing the angle detected by the arm 2 and the bucket 3.
  • a signal representing the angle detected by the bucket relative angle sensor 63 provided on the connecting shaft that connects the .
  • the arm relative angle sensor (working state detection device) 62 is, for example, a potentiometer that detects the relative angle (tilt angle) of the arm 2 with respect to the vehicle body 8 and outputs a signal representing the detected angle to the main controller 100 .
  • a bucket relative angle sensor (working state detection device) 63 is, for example, a potentiometer that detects the relative angle (tilt angle) of the bucket 3 with respect to the arm 2 and outputs a signal representing the detected angle to the main controller 100 .
  • a sensor signal input to the main controller 100 there is a signal representing the vehicle speed detected by the vehicle speed sensor 61.
  • a vehicle speed sensor (running state detection device) 61 detects the vehicle speed of the work vehicle 1 and outputs a signal representing the detected vehicle speed to the main controller 100 .
  • the sensor signals input to the main controller 100 include signals representing the rotation speeds of the engine 20, the generator motor 40, the hydraulic pumps 30A, 30B, and 30C, and the travel motor 43 detected by a plurality of rotation speed sensors.
  • the main controller 100 outputs a front control command to the front control unit 31 based on the operating direction and operating amount of the arm operating lever 52 and the operating direction and operating amount of the bucket operating lever 53 .
  • the front control unit 31 adjusts the pressure, speed, and flow direction of the hydraulic oil discharged from the hydraulic pump 30A based on the front control command from the main controller 100, and controls the arm cylinder 4 and the bucket cylinder 5. make it work.
  • the front control unit 31 includes a directional control valve that controls the flow of hydraulic oil discharged from the hydraulic pump 30A, an electromagnetic valve that generates pilot pressure that is input to a pilot chamber of the directional control valve, and the like.
  • the main controller 100 outputs a brake control command to the brake control unit 32 based on the operation amount of the brake pedal 57 and the operation position of the parking brake switch 56 .
  • the brake control unit 32 adjusts the pressure, speed, and direction of hydraulic fluid discharged from the hydraulic pump 30B based on a brake control command from the main controller 100, and controls the brake cylinder 17 for applying the brake and the parking brake.
  • the parking brake cylinder 18 for functioning is operated.
  • the brake control unit 32 has a directional control valve that controls the flow of hydraulic fluid discharged from the hydraulic pump 30B, an electromagnetic valve that generates pilot pressure that is input to a pilot chamber of the directional control valve, and the like.
  • the main controller 100 outputs a steering control command to the steering control section 33 based on the direction and amount of operation of the steering wheel 55 .
  • the steering control unit 33 operates the steering cylinder 15 by adjusting the pressure, speed, and direction of hydraulic fluid discharged from the hydraulic pump 30 ⁇ /b>C based on a steering control command from the main controller 100 .
  • the steering control unit 33 has a directional control valve that controls the flow of hydraulic fluid discharged from the hydraulic pump 30C, an electromagnetic valve that generates pilot pressure that is input to a pilot chamber of the directional control valve, and the like.
  • the generator motor inverter 41 and the traction motor inverter 42 are connected by a DC section (DC bus) 44 .
  • the work vehicle 1 of this embodiment does not include a power storage device that is connected to the DC section 44 .
  • the generator-motor inverter 41 controls the bus voltage of the DC section 44 using the power supplied from the generator-motor 40 based on the generated voltage command from the main controller 100 .
  • the traction motor inverter 42 drives the traction motor 43 using the electric power of the DC section 44 based on the traction drive torque command from the main controller 100 .
  • Fig. 3 is a diagram for explaining the basic transportation work of the work vehicle
  • Fig. 4 is a diagram for explaining the operation associated with the rise run.
  • the work vehicle 1 excavates earth, sand, minerals, and the like (transported materials) and loads them onto a loading object 92 such as a dump truck.
  • FIG. 3 shows one method of carrying out this transport operation, V-shape loading.
  • the work vehicle 1 first moves forward toward an excavation object 91 such as natural ground, as indicated by an arrow X1 in FIG.
  • the work vehicle 1 penetrates the bucket 3 into the excavation target 91 in such a manner as to thrust it into the excavation target 91, and operates the arm 2 and the bucket 3 to put materials such as soil and minerals into the bucket 3.
  • the work vehicle 1 scoops up the bucket 3 forward so as not to spill the transported material in the bucket 3 (crow operation). This completes the excavation work.
  • the work vehicle 1 once moves backward as indicated by the arrow X2 in FIG.
  • the work vehicle 1 advances toward the object to be loaded 92 as indicated by the arrow Y1 in FIG.
  • the operator of the work vehicle 1 operates the arm operation lever 52 to raise the arm 2, and operates the steering wheel 55 and the accelerator pedal 58 to move toward the object 92 to be loaded. to move the vehicle body 8 (that is, the work vehicle 1) forward. Then, the vehicle body 8 is stopped in front of the object 92 to be loaded.
  • the work vehicle 1 stopped in front of the object 92 to be loaded is indicated by a broken line.
  • V shape loading A series of work including such excavation work and loading work is called "V shape loading" and occupies the majority of the total work time of the work vehicle 1. Therefore, in order to reduce the burden on the operator, it is effective to reduce the burden of this series of operations.
  • the burden means the number of times the operator changes the operation amount of the operation member such as the accelerator pedal 58 and the arm operation lever 52 in a series of operations including the excavation operation and the loading operation. It means less burden.
  • An appropriate balance between the running driving force and the work driving force varies depending on the travel distance, arm angle, vehicle speed, and arm angular velocity of the work vehicle 1.
  • the higher the arm angular velocity with respect to the vehicle speed the more it is necessary to suppress the work driving force.
  • the travel distance and arm angle at a certain time during the rise run operation the faster the vehicle speed relative to the arm angular velocity, the more it is necessary to suppress the travel driving force.
  • the load on the operator is reduced by adjusting the balance between the traveling driving force and the working driving force based on the traveling distance, arm angle, vehicle speed, and arm angular velocity of the work vehicle 1. mitigation can be achieved.
  • the main controller 100 of the present embodiment sets the remaining time until the vehicle body 8 (that is, the work vehicle 1) reaches the target rise run distance (target travel distance) as the travel remaining time tC .
  • Rise run determination unit 113 that determines whether or not the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle is in a state where the vehicle
  • the remaining travel time calculation unit 111 calculates the remaining travel time tC based on the travel distance and vehicle speed of the work vehicle 1 .
  • the remaining running time tC is calculated, for example, by the following formula (1).
  • dRR is the target rise run distance
  • d1 is the traveling distance at time t1 after a predetermined time has elapsed from rise run start time t0
  • v1 is the vehicle speed of work vehicle 1 at time t1.
  • the target rise-run distance is set in advance based on empirical values.
  • the vehicle speed of the work vehicle 1 is detected by the vehicle speed sensor 61 .
  • the vehicle speed of the work vehicle 1 may be calculated based on information detected by a rotary encoder (running state detection device) that detects the rotation speed of the shaft that constitutes the power transmission device.
  • the travel distance may be calculated based on the rotational speed and number of revolutions of the travel motor 43, or may be calculated based on the vehicle speed detected by the vehicle speed sensor 61 and the travel time.
  • the remaining working time calculation unit 112 calculates the remaining working time tI based on the arm angle and the arm angular velocity of the work vehicle 1 .
  • the remaining work time tI is calculated, for example, by the following formula (2).
  • ⁇ RR is the target arm angle
  • ⁇ 1 is the arm angle at time t 1 after a predetermined time has elapsed from rise run start time t 0
  • v ⁇ 1 is the arm angular velocity of work vehicle 1 at time t 1 .
  • the target arm angle is set in advance based on the height of the loading platform of the object 92 to be loaded.
  • An arm angle is detected by an arm relative angle sensor 62 .
  • the arm angular velocity is calculated by main controller 100 based on the arm angle detected by arm relative angle sensor 62 .
  • the rise run determination unit 113 determines whether a specific condition for specifying the lifting of the arm 2 during forward traveling of the vehicle body 8 during loading work is satisfied. determine whether or not In the present embodiment, the rise-run determination unit 113 determines whether the work vehicle 1 is performing rise-run work based on the operating state of the accelerator pedal 58 detected by a sensor or the like and the state of the arm 2 and the bucket 3 detected by a sensor or the like. It is determined whether or not the More specifically, the rise run determination unit 113 determines whether the work vehicle 1 is performing rise run work based on the bucket angle ⁇ , the amount of operation of the accelerator pedal 58, and the amount of operation of the arm operation lever 52. determine whether
  • FIG. 6 is a diagram for explaining the bucket angle.
  • the bucket angle ⁇ is the inclination angle of the bucket 3 from the reference plane 90 .
  • the reference plane 90 is a plane set parallel to the ground (running plane).
  • the bucket angle ⁇ is 0°.
  • the bucket angle ⁇ increases with the rotation. In other words, when the bucket 3 rotates due to the dumping operation, the bucket angle ⁇ decreases along with the rotation.
  • This bucket angle ⁇ is based on the relative angle of the arm 2 with respect to the reference plane 90 detected by the arm relative angle sensor 62 and the relative angle of the bucket 3 with respect to the arm 2 detected by the bucket relative angle sensor 63. Calculated by the main controller 100 .
  • the rise run determination unit 113 determines that the rise run has started when the bucket angle ⁇ is equal to or greater than a predetermined first angle threshold value ⁇ a and when the amount of operation of the accelerator pedal 58 and the arm operation lever 52 increases. , set the rise run determination flag to on.
  • the rise run determination flag is set to ON when the work vehicle 1 is performing rise run, and is set to OFF when the rise run is completed.
  • the first angle threshold value ⁇ a is a threshold value used for determining whether to start a rise run, is set based on the scooping posture of the work device 6, and is stored in the ROM 102 of the main controller 100 in advance.
  • the scooping posture of the work device 6 is a posture in which the upper surface of the bucket 3 is substantially parallel to the ground.
  • the rise run determination unit 113 determines that the rise run has ended when the bucket angle ⁇ becomes equal to or less than the second angle threshold value ⁇ b (for example, about 0°). Set the judgment flag to off.
  • the second angle threshold ⁇ b is a threshold for determining whether or not the rise run has ended after the rise run has started. It is possible to adopt the bucket angle .theta. That is, the rise run determination unit 113 determines that the rise run has ended when it is detected that the bucket 3 is in the dumping posture after it is determined that the rise run has started. Here, it may be determined that the rise run is completed when the operation amounts of the accelerator pedal 58 and the arm operation lever 52 become zero.
  • the correction factor setting unit 114 sets the remaining running time tC calculated by the remaining running time calculating unit 111 and the remaining working time t calculated by the remaining working time calculating unit 112. Based on I and the rise run determination flag determined by the rise run determination unit 113, the traveling correction factor ⁇ C and the work correction factor ⁇ I are set.
  • the travel correction factor ⁇ C and the work correction factor ⁇ I each take a value of 0 to 100%.
  • the correction factor setting unit 114 first uses the following formula ( 3) Calculate the remaining time difference ⁇ t CI .
  • FIG. 7 is an example of a correction factor table for setting the travel correction factor ⁇ C and the work correction factor ⁇ I .
  • the dashed line indicates a table in which the remaining time difference ⁇ tC -I and the travel correction factor ⁇ C are associated with each other, and the solid line indicates the remaining time difference ⁇ tC -I and the work correction factor ⁇ I. are associated with each other.
  • the correction factor table shown in FIG. 7 is created in advance based on experimental data and the like, and stored in the ROM 102 of the main controller 100 in advance.
  • the work correction factor ⁇ I increases, and as the remaining time difference ⁇ t CI decreases, the traveling correction factor ⁇ C increases.
  • the work correction factor ⁇ I increases as the remaining work time tI becomes shorter than the remaining travel time tC.
  • Driving torque working driving force
  • the running correction factor ⁇ C increases, so that the running driving torque (running driving force) can be quickly reduced. As a result, the vehicle speed of the work vehicle 1 is greatly restricted.
  • the travel correction factor ⁇ C and the work correction factor ⁇ I set based on the remaining time tC and the remaining work time tI also change.
  • the correction factor setting unit 114 is prohibited from setting the travel correction factor ⁇ C and the work correction factor ⁇ I .
  • the travel correction factor ⁇ C and the work correction factor ⁇ I are held at constant values (for example, about 0%).
  • the engine torque distribution calculation unit 115 calculates the correction factors ⁇ C and ⁇ I set by the correction factor setting unit 114, the engine output torque TE, the accessory request torque TAUX_REQ , the work request torque TI_REQ , and the travel request torque TC_REQ . Based on this, the work drive torque command TI_COM and the travel drive torque command TC_COM are calculated.
  • the main controller 100 calculates the engine output torque T E , accessory request torque T AUX_REQ , work request torque T I_REQ , and travel request torque T C_REQ , respectively.
  • the engine output torque TE is the maximum torque that can be output at the current engine speed.
  • the main controller 100 refers to an engine output torque curve stored, for example, in the ROM 102, and calculates the engine output torque TE based on the engine rotation speed detected by the engine rotation speed sensor.
  • Auxiliary machine request torque T AUX_REQ is calculated according to the operation states of a plurality of auxiliary machines operated by the electric power generated by generator motor 40 .
  • the main controller 100 sets a target value (for example, 1800 rpm) for the engine rotation speed.
  • the target value of the engine rotation speed set by the main controller 100 is output to an engine controller (not shown).
  • the engine controller controls a fuel injection device (not shown) so that the engine rotation speed detected by the engine rotation speed sensor reaches a target value.
  • FIG. 8A is an example of a pump request map showing the relationship between the lever operation amount and the pump request flow rate. This pump request map is pre-stored in the ROM 102 of the main controller 100 .
  • the main controller 100 first refers to the pump required flow rate map shown in FIG. 8A and determines the pump required flow rate based on the lever operation amount (lever signal).
  • the required pump flow rate map is set so that the required pump flow rate is substantially proportional to the lever operation amount, and increases as the lever operation amount increases.
  • the pump demand flow rate map includes a map based on the operation amount of the arm control lever 52 and a map based on the operation amount of the bucket control lever 53. Of the flow rates determined by the respective maps, the larger one is the pump demand flow rate map. Determined as the flow rate.
  • the main controller 100 calculates the required hydraulic power based on the required pump flow rate and the discharge pressure of the hydraulic pump 30A detected by the pressure sensor, and calculates the calculated required hydraulic power and the engine speed detected by the rotational speed sensor. 20 and the work demand torque TI_REQ is calculated.
  • the required work torque TI_REQ increases as the lever operation amount increases.
  • FIG. 8B is an example of a torque map of the traveling electric motor 43 showing the relationship between the rotational speed of the traveling electric motor and the required traveling torque.
  • This torque map is pre-stored in the ROM 102 of the main controller 100 .
  • the ROM 102 stores a plurality of torque maps (torque curves) corresponding to the accelerator signal so that the torque of the traction motor 43 increases or decreases according to the increase or decrease of the accelerator signal.
  • the torque map is set so that the requested traveling torque TC_REQ increases as the accelerator signal increases, and the requested traveling torque TC_REQ decreases as the rotational speed of the traveling electric motor 43 increases.
  • the main controller 100 selects a torque map (torque curve) corresponding to the magnitude of the accelerator signal (magnitude of the operation amount of the accelerator pedal 58), and based on the rotational speed of the traveling electric motor 43, the required traveling torque T C_REQ is calculated. to calculate For example, when the accelerator pedal 58 is fully operated (when the accelerator signal is maximum), the solid line torque map (see FIG. 8B) is selected. The main controller 100 refers to the selected torque map and calculates the travel request torque TC_REQ based on the rotational speed of the travel motor 43 . When a transmission is provided, the main controller 100 also takes into consideration the gear ratio of the transmission when calculating the travel request torque TC_REQ .
  • the engine torque distribution calculation unit 115 first calculates the work target torque TI_TGT based on the work demand torque TI_REQ calculated by the main controller 100 and the correction factor ⁇ I of the work drive torque set by the correction factor setting unit 114. to calculate The work target torque TI_TGT is calculated by Equation (4), for example.
  • the engine torque distribution calculation unit 115 calculates the target running torque T C_TGT based on the required running torque T C_REQ calculated by the main controller 100 and the correction factor ⁇ C for the running drive torque set by the correction factor setting unit 114 . do.
  • the running target torque TC_TGT is calculated by equation (5).
  • the engine torque distribution calculation unit 115 sums the work drive torque command TI_COM , the travel drive torque command TC_COM , and the accessory request torque T AUX_REQ .
  • the work drive torque command TI_COM and the traveling drive torque command TC_COM are determined so that the command torque total value TSUM_COM obtained does not exceed the engine output torque TE . An example of the determination method will be described below.
  • the engine torque distribution calculation unit 115 calculates the work driving torque obtained by multiplying the predetermined value Y by the work correction factor ⁇ I for the amount (T SUM_TGT ⁇ T E ) by which the target torque total value T SUM_TGT exceeds the engine output torque TE.
  • the predetermined value Y is determined so that the sum (C I +C C ) of the correction value C I and the running drive torque correction value C C obtained by multiplying the predetermined value Y by the running correction factor ⁇ C becomes equal.
  • the engine torque distribution calculation unit 115 determines a value obtained by subtracting the work drive torque correction value CI from the work target torque TI_TGT as the work drive torque command TI_COM , and sets the travel drive torque correction value CC to the travel target torque.
  • a value subtracted from TC_TGT is determined as the traveling drive torque command TC_COM .
  • the method of determining the work drive torque command TI_COM and the travel drive torque command TC_COM when the target torque total value TSUM_TGT is greater than the engine output torque TE is not limited to this.
  • the engine torque distribution calculation unit 115 reduces only one of the work target torque TI_TGT and the travel target torque TC_TGT to reduce the total command torque TSUM_COM from exceeding the engine output torque TE .
  • a driving torque command TI_COM and a traveling driving torque command TC_COM may be determined.
  • the control processing of the main controller 100 will be described below with reference to FIG. 9
  • the control process of the main controller 100 shown in FIG. 9 is started, for example, when an ignition switch (engine key switch) is turned on, and after initial setting (not shown) is performed, it is repeatedly executed at a predetermined control cycle.
  • the rise run determination flag is set to OFF.
  • step S110 the remaining running time calculator 111 calculates the remaining running time tC as described above.
  • step S120 following step S110 the remaining work time calculator 112 calculates the remaining work time tI as described above.
  • step S130 following step S120 the rise run determination unit 113 performs a rise run determination flag setting process.
  • the rise run determination unit 113 determines that the rise run has not started when the bucket angle ⁇ is not equal to or greater than the first angle threshold value ⁇ a, or when the bottom pressure of the arm cylinder 4 is less than a predetermined pressure threshold value. do. In this case, the rise run determination unit 113 keeps the rise run determination flag off.
  • the rise run determination unit 113 determines that rise run has started. In this case, the rise run determination unit 113 switches the rise run determination flag from off to on.
  • step S140 the main controller 100 determines whether the mode switch 54 is set to the AUTO mode or the MANUAL mode. If it is determined that the AUTO mode is set, the control process proceeds to step S150. On the other hand, if it is determined that the MANUAL mode is set, the control process proceeds to step S170.
  • step S150 the main controller 100 determines whether or not the work vehicle 1 is in the process of loading (in other words, whether or not the work vehicle 1 is in rise run). Then, when the rise run determination flag is set to ON, it is determined that the work vehicle 1 is in the process of loading work (in other words, the work vehicle 1 is in the state of performing the rise run), and the control process proceeds to step S160. proceed to On the other hand, when the rise run determination flag is set to OFF, it is determined that the work vehicle 1 is not in the loading operation (in other words, the work vehicle 1 is not in the rise run state), and the control process proceeds to step S170. .
  • step S160 the correction factor setting unit 114 sets the travel correction factor ⁇ C and the work correction factor ⁇ I based on the remaining travel time tC and the remaining work time tI , as described above.
  • step S170 following step S160 the engine torque distribution calculation unit 115 calculates the correction factors ⁇ C , ⁇ I , the engine output torque TE, the accessory request torque TAUX_REQ , the work request torque TI_REQ , and the traveling torque as described above. Based on the required torque TC_REQ , the work drive torque command TI_COM and the traveling drive torque command TC_COM are calculated. This completes a series of control processes.
  • the work drive torque command TI_COM calculated by the engine torque distribution calculator 115 is output to a pump controller (not shown).
  • the pump controller generates a control signal for controlling the discharge capacity (displacement volume) of the hydraulic pump 30A based on the work drive torque command TI_COM and the discharge pressure of the hydraulic pump 30A.
  • the pump controller outputs the generated control signal to a regulator (not shown) to control the displacement of the hydraulic pump 30A. Therefore, the arm 2 is driven by the working driving force generated by the arm cylinder 4, and the bucket 3 is driven by the working driving force generated by the bucket cylinder 5, respectively.
  • the main controller 100 of the present embodiment sets the work correction factor ⁇ I based on the remaining running time tC and the remaining work time tI during the rise run, and based on the set work correction factor ⁇ I
  • the work drive torque is controlled by calculating and outputting the work drive torque command TI_COM .
  • the travel drive torque command TC_COM calculated by the engine torque distribution calculator 115 is output to the travel motor inverter 42 .
  • the traction motor inverter 42 drives the traction motor 43 based on the traction drive torque command TC_COM .
  • the torque generated by the traveling electric motor 43 is transmitted to the wheels 7 forming the traveling device 11 via the power transmission device forming the traveling device 11 . Therefore, the travel device 11 is driven by the travel drive force generated by the travel motor 43 .
  • the main controller 100 sets the running correction factor ⁇ C based on the remaining running time tC and the remaining work time tI during the rise run, and based on the set running correction factor ⁇ C
  • the running drive torque is controlled by calculating and outputting the running drive torque command TC_COM .
  • FIG. 10 shows an example in which the work vehicle 1 according to the present embodiment performs an operation associated with a simple rise run on the assumption that the road surface up to the object of loading is uphill. Also, in order to clarify the effects of the present embodiment, a comparison with a comparative example that does not have the AUTO mode (that is, a conventional example that does not consider the correction factors ⁇ C and ⁇ I ) will be described. In the work vehicle 1 according to the present embodiment and the comparative example, it is assumed that the operator's operating procedures and operating amounts for various operating members are the same.
  • FIG. 10 the operation of the main controller 100 of the work vehicle 1 according to this embodiment is indicated by solid lines, and the operation of the main controller according to the comparative example is indicated by broken lines.
  • the horizontal axis of FIG. 10 indicates time (elapsed time).
  • the vertical axis of FIG. 10(a) indicates the remaining time difference ⁇ t CI calculated by the correction factor setting unit 114, and the vertical axis of FIG. C
  • the vertical axis of FIG. 10(c) indicates the work correction factor ⁇ I set by the correction factor setting unit 114
  • the vertical axis of FIG. 10( e ) indicates the drive torque command TC_COM , and the work drive torque command TI_COM calculated by the engine torque distribution calculator 115 .
  • time T0 is the time when the operator starts the operation associated with the simple rise run, and the work vehicle 1 starts moving the vehicle body 8 forward while raising the arm 2 . That is, time T0 is the time when the rise run determination flag is set to ON.
  • Time T1 is the time when the arm 2 rises to the height required for dumping soil in the comparative example.
  • Time T2 is the time when the vehicle advances to the target rise run distance in the comparative example.
  • Time Ta is the time when the arm 2 in this embodiment rises to the height required for earth dumping and advances to the target rise run distance.
  • the remaining time difference ⁇ t CI is small until time T0. This is because the work vehicle 1 has not started the rise run until time T0. At time T0, the work vehicle 1 raises the arm 2 and moves the vehicle body 8 forward, so the remaining time difference ⁇ t CI fluctuates.
  • the road surface up to the object of loading is uphill, so the remaining travel time tC becomes longer than the remaining work time tI, and the remaining time difference ⁇ tC-I rises sharply .
  • the rise run is performed by the main controller 100 during the period from when the rise run determination flag is set to on to when it is set to off (time T0 to time Ta). Since the remaining time difference ⁇ t C ⁇ I is large while it is determined that the vehicle is running, the running correction factor ⁇ C remains small (in other words, remains low). As a result, as shown in FIG. 10(d), the travel drive torque command of this embodiment is higher than that of the comparative example in all periods.
  • the work correction factor ⁇ I increases from time T0 until the remaining time difference ⁇ tCI becomes zero. Therefore, as shown in FIG. 10(e), the work drive torque command of the present embodiment is lower than that of the comparative example from time T0 until the remaining time difference ⁇ t CI becomes zero.
  • the target torque total value TSUM_TGT is smaller than in the comparative example by the amount that the work drive torque command is lower than in the comparative example. Therefore, the engine output that can be distributed to the travel drive torque command increases, and as shown in FIG. 10(d), the travel drive torque command of this embodiment is higher than that of the comparative example.
  • the time T2 at which the forward travel is completed in the comparative example is the time at which the arm rise is completed. longer than T1.
  • the traveling is sluggish and the time to approach the loading object 92 (dump truck) is wasted.
  • the operator adjusts the arm operation lever according to the travel distance of the vehicle body, the vehicle speed, the arm angle, and the arm angular velocity in order to match the time at which the forward travel is completed and the time at which the arm is raised. There is a need. As a result, the operator's burden increases.
  • the main controller 100 sets the travel correction factor ⁇ C and the work correction factor ⁇ I based on the travel distance of the vehicle body, the vehicle speed, the arm angle, and the arm angular velocity. Since the work drive torque command and the travel drive torque command are balanced based on the set travel correction factor ⁇ C and work correction factor ⁇ I , the time at which the arm rise is completed is longer than in the comparative example. The time at which the running is completed is shorter than in the comparative example. Therefore, according to the work vehicle 1 according to the present embodiment, even in the case of the operation associated with the simple rise run, the time when the forward traveling is completed and the time when the arm rise is completed can be aligned, thereby reducing the burden on the operator. be able to.
  • the correction factors ⁇ C and ⁇ I are set based on the traveling distance, vehicle speed, arm angle, and arm angular velocity of the work vehicle 1 during the rise run. Therefore, regardless of the skill level of the operator, the time when the arm lift is completed during the rise run and the time when the forward travel is completed can be brought close to each other. As a result, it is possible to reduce the burden on the operator, improve work efficiency, and improve fuel efficiency.
  • both the travel drive torque and the work drive torque are adjusted by the correction factors ⁇ C and ⁇ I , even if the arm lift completion time is longer than the forward travel completion time, the arm Since the time when the ascent is completed and the time when the forward travel is completed can be brought close to each other, it is possible to reduce the burden on the operator. Furthermore, since both the travel drive torque and the work drive torque are adjusted successively by the correction factors ⁇ C and ⁇ I , even if the road surface has different inclination angles along the way, the burden on the operator is reduced. be able to.
  • the work vehicle 1 of the present embodiment even if the amount of material to be transported in the bucket 3 or the road surface condition changes with each loading cycle, or changes in real time during the rise run operation, Also, since the balance between the travel drive torque and the work drive torque can be brought close to an appropriate value, the burden on the operator can be reduced.
  • the work vehicle 1 according to the second embodiment will be described below with reference to FIG. 11 .
  • the work vehicle 1 of this embodiment has the same configuration as the work vehicle 1 of the first embodiment, but the processing of the main controller 100 is different from that of the first embodiment.
  • the remaining running time calculation unit 111 calculates the remaining running time t C and the remaining work time
  • the calculation unit 112 calculates the remaining work time tI .
  • the correction factor setting unit 114 sets the work correction factor ⁇ I and the travel correction factor ⁇ C based on the calculated remaining travel time tC and remaining work time tI .
  • the set correction factors ⁇ C and ⁇ I are held until the rise run determination flag is switched from ON to OFF.
  • the main controller 100 initializes the correction factors ⁇ C and ⁇ I to the reference values ⁇ C0 and ⁇ I0 .
  • the predetermined time ⁇ Tq can be appropriately set according to the work content and performance of the work vehicle 1, the computing power of the main controller 100, and the like. Further, in order to improve the calculation accuracy, the predetermined time ⁇ Tq should be long. For example, by securing about 0.1 second, the remaining travel time tC and the remaining work time tI can be calculated with a certain degree of accuracy. be able to. Moreover, the time from when the work vehicle 1 starts the rise run to when it ends (time T0 to time Ta) is about 10 seconds. Therefore, the predetermined time ⁇ Tq is preferably set to a value of 0.1 seconds or more and 10 seconds or less.
  • the time from when the operator operates the arm control lever 52 of the work vehicle 1 until the arm 2 starts to operate is approximately 0.5 seconds, and the time until the hydraulic pressure for operating the arm 2 has increased completely.
  • the time is approximately 1.5 seconds. Therefore, it is more preferable to set the predetermined time ⁇ Tq within the range of 0.5 seconds to 1.5 seconds.
  • the main controller 100 holds the correction factors ⁇ C and ⁇ I set based on the remaining running time t C and the remaining working time t I calculated at time Tb until the rise run determination flag is switched from on to off. .
  • the operator releases the accelerator pedal 58 or returns the arm operating lever 52 to its original position during the rise run operation, or the vehicle speed of the work vehicle 1 temporarily decreases or the arm angular velocity increases during the rise run operation. is lowered, the correction factors ⁇ C and ⁇ I do not change. Therefore, for example, in one loading operation, when the operator moves the work vehicle 1 back and forth multiple times or interrupts the rise run, appropriate correction factors ⁇ C , ⁇ You can set I.
  • the loading work in addition to obtaining the same effects as those of the first embodiment, the loading work can be performed in many work patterns as described above, so the degree of freedom of the loading work. can be improved.
  • the work vehicle 1 according to the third embodiment will be described below with reference to FIG. 12 .
  • the work vehicle 1 of this embodiment differs from that of the first embodiment in the method of setting the traveling correction factor and the work correction factor by the correction factor setting unit 114A.
  • the correction factor setting unit 114A calculates the remaining running time tC calculated by the remaining running time calculating unit 111 and the remaining work time calculation.
  • the ratio ⁇ acc of the amount of operation of the accelerator pedal 58 and the ratio ⁇ arm of the amount of operation of the arm control lever 52 are set based on, for example, empirical values and stored in the ROM 102 of the main controller 100 in advance.
  • the main controller (control device) 100A of the present embodiment controls the work drive torque so that the work drive torque becomes smaller as the operation amount of the arm control lever 52 for driving the arm 2 becomes smaller.
  • the travel drive torque is controlled such that the smaller the operation amount of the accelerator pedal 58 for driving the wheels 7, the smaller the travel drive torque. Therefore, the amount of operation of the operation unit, which is directly related to the operator's intention to operate the work vehicle 1, and the correction factor in the rise run control are proportional to each other, so that the operator's intention can be more reflected, and the operator feels a sense of discomfort. can be reduced.
  • the method of calculating the work drive torque command TI_COM and the travel drive torque command TC_COM by the engine torque distribution calculation unit 115 is not limited to that described in the above embodiment.
  • the engine torque distribution calculation unit 115 calculates the traveling correction factor ⁇ C and the work correction factor ⁇ I set by the correction factor setting unit 114, the engine output torque T E , the accessory request torque T AUX_REQ , the work request torque T I_REQ , and the travel request Based on the torque TC_REQ , the work drive torque command TI_COM and the travel drive torque command TC_COM may be calculated as follows.
  • the engine torque distribution calculation unit 115 calculates the difference value ⁇ T E between the engine output torque TE and the total required torque value TSUM_REQ .
  • the work target torque TI_TGT and the travel target torque TC_TGT are calculated by increasing a predetermined amount from the work request torque TI_REQ and the travel request torque TC_REQ according to the travel correction factor ⁇ C and the work correction factor ⁇ I .
  • the engine torque distribution calculation unit 115 adjusts the target torque total value TSUM_TGT obtained by summing the accessory request torque T AUX_REQ , the work target torque T I_TGT , and the traveling target torque T C_TGT to be equal to the engine output torque T E. do.
  • the time required for the rise run can be shortened, in addition to the effect of aligning the time when the forward travel is completed and the time when the arm is raised, so that the effect of improving the work efficiency can be further enhanced. can be done.
  • the traveling motor 43 is used as the traveling motor that supplies power to the traveling device 11, but a plurality of traveling motors may be used. For example, a configuration using two traveling electric motors 43 directly connected to the front wheels 7A on a one-to-one basis, a configuration using four traveling electric motors 43 directly connected to the four wheels 7 on a one-to-one basis, or a configuration using the front wheels 7A and the rear wheels 7A.
  • the wheel 7B and the traveling electric motor 43 may be integrated.
  • the drive system that drives the work device 6 converts hydraulic oil discharged from the hydraulic pump 30A into mechanical energy by the arm cylinder 4 and the bucket cylinder 5, so that the power of the engine 20 is generated.
  • the drive system that drives the working device 6 may be an electric drive system.
  • the arm cylinder 4 and the bucket cylinder 5 may be electric cylinders driven by electric power generated by the generator motor 40 instead of hydraulic cylinders.
  • the method of determining that the rise run has started and the method of calculating the remaining running time and the remaining work time are not limited to the methods described in the above embodiment. For example, based on image data captured by a camera or other imaging device (work state detection device) for monitoring the front of the work vehicle 1, it is determined whether or not the rise run has started, and the remaining travel time and the remaining work are determined. You can calculate time and Further, based on the information detected by an infrared sensor (running state detection device) that monitors the front of the work vehicle 1, it is determined whether or not the rise run has started, and the remaining running time and the remaining work time are calculated. good.
  • the values used for various determinations and calculations may be subjected to moving average processing or low-pass filter processing in order to avoid the effects of disturbance and noise.
  • the correction factors ⁇ C and ⁇ I may be subjected to moving average processing and low-pass filter processing, sudden fluctuations in the correction factors ⁇ C and ⁇ I due to sudden changes in the vehicle speed or the arm angular velocity immediately after the start of the rise run are suppressed. Therefore, it is possible to improve the operability.
  • the correction factor setting unit 114 sets the correction factors ⁇ C and ⁇ I based on the remaining travel time and the remaining work time, but the present invention is not limited to this.
  • the correction factor setting unit 114 may set the correction factors ⁇ C and ⁇ I based on the vehicle speed and the arm angular velocity, or the travel distance and the arm angle. In this case, since the amount of control processing of the main controller 100 can be reduced, the processing speed of the main controller 100 can be improved.
  • Modification 10 Also, some or all of the functions of the main controller 100 described in the above embodiment may be realized by hardware (for example, a device in which the logic for executing each function is designed as an integrated circuit, etc.). .
  • the engine torque distribution calculation unit 115 calculates the travel target torque TC_TGT based on the travel request torque TC_REQ and the travel correction factor ⁇ C , and the work request torque TI_REQ and the work correction factor ⁇ I
  • the present invention is not limited to this.
  • the driving correction factor ⁇ C and the work correction factor ⁇ I set by the correction factor setting unit 114 are not output to the engine torque distribution calculation unit 115, and the main controller 100 sets the driving correction factor ⁇ C to the operation amount of the accelerator pedal 58 may be calculated as the required travel torque TC_REQ , and the operation amount of the arm control lever 52 multiplied by the work correction factor ⁇ I may be calculated as the required work torque TI_REQ .

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PCT/JP2022/006765 2021-03-24 2022-02-18 作業車両 Ceased WO2022202027A1 (ja)

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US18/021,202 US12467223B2 (en) 2021-03-24 2022-02-18 Work vehicle apparatus for loading efficiency
CN202280005794.3A CN116096966A (zh) 2021-03-24 2022-02-18 作业车辆
EP22774827.4A EP4180583B1 (en) 2021-03-24 2022-02-18 Work vehicle

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WO2025106042A1 (en) * 2023-11-16 2025-05-22 Hi̇dromek-Hi̇droli̇k Ve Mekani̇k Maki̇na İmalat Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ Automatic power and torque control system in construction machines

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EP4180583A1 (en) 2023-05-17
JP7374144B2 (ja) 2023-11-06
EP4180583B1 (en) 2025-10-01
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US12467223B2 (en) 2025-11-11
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