WO2022230398A1 - 作業機械、及び作業機械を制御するための方法 - Google Patents
作業機械、及び作業機械を制御するための方法 Download PDFInfo
- Publication number
- WO2022230398A1 WO2022230398A1 PCT/JP2022/011358 JP2022011358W WO2022230398A1 WO 2022230398 A1 WO2022230398 A1 WO 2022230398A1 JP 2022011358 W JP2022011358 W JP 2022011358W WO 2022230398 A1 WO2022230398 A1 WO 2022230398A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- blade
- pitch
- height
- pitch angle
- actuator
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 13
- 230000007423 decrease Effects 0.000 claims description 7
- 239000011295 pitch Substances 0.000 description 121
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7622—Scraper equipment with the scraper blade mounted on a frame to be hitched to the tractor by bars, arms, chains or the like, the frame having no ground supporting means of its own, e.g. drag scrapers
- E02F3/7631—Scraper equipment with the scraper blade mounted on a frame to be hitched to the tractor by bars, arms, chains or the like, the frame having no ground supporting means of its own, e.g. drag scrapers with the scraper blade adjustable relative to the frame about a horizontal axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
Definitions
- the present invention relates to a working machine and a method for controlling a working machine.
- Some work machines can adjust the pitch angle of the blade according to the operator's operation.
- the work machine disclosed in Patent Document 1 is provided with an operation lever for adjusting the pitch angle of the blade.
- a switch is provided on the operating lever. When the switch is on and the operating lever is pushed to the right, the hydraulic cylinder is controlled so that the blade pitch dumps (tilts forward). When the switch is on and the operating lever is pushed to the left, the hydraulic cylinder is controlled so that the blade pitches back (rearward tilt).
- the pitch angle of the blade affects workability such as excavation or leveling.
- the pitch angle of the blade differs depending on the type of work. For example, when the pitch angle is large, that is, when the blade is tilted forward, ground leveling is good, but digging resistance is high and digging is poor.
- the pitch angle is small, that is, when the blade is tilted backward, the excavation resistance is small and the excavation performance is good.
- An object of the present disclosure is to enable easy and appropriate adjustment of the pitch angle of blades in a work machine.
- a work machine includes a vehicle body, a lift frame, a blade, a lift actuator, a pitch actuator, a sensor, and a controller.
- the lift frame is supported rotatably around the lift shaft with respect to the vehicle body.
- the blade is rotatably supported about the pitch axis with respect to the lift frame.
- the lift actuator is connected to the lift frame and the vehicle body, and lifts the lift frame up and down around the lift axis.
- a pitch actuator is connected to the blade and the lift frame for pitching the blade about the pitch axis.
- a sensor detects the height of the blade from a reference height determined based on the vehicle body.
- the controller controls the pitch actuator to change the pitch angle of the blade according to the height of the blade.
- a method is a method for controlling a working machine.
- a work machine includes a vehicle body, a lift frame, a blade, a lift actuator, and a pitch actuator.
- the lift frame is supported rotatably around the lift shaft with respect to the vehicle body.
- the blade is rotatably supported about the pitch axis with respect to the lift frame.
- the lift actuator is connected to the lift frame and the vehicle body, and lifts the lift frame up and down around the lift axis.
- a pitch actuator is connected to the blade and the lift frame for pitching the blade about the pitch axis.
- the method includes detecting the height of the blade from a reference height determined based on the vehicle body, and controlling a pitch actuator to change the pitch angle of the blade according to the height of the blade. Prepare.
- the pitch actuator is automatically controlled to change the pitch angle of the blade according to the height of the blade. Therefore, the pitch angle of the blade can be easily and appropriately adjusted in the working machine.
- FIG. 1 is a block diagram showing the configuration of a drive system and a control system of a working machine;
- FIG. FIG. 10 is a diagram showing the height of the blade from the reference height; It is a figure which shows the pitch angle of a blade. It is a figure which shows an example of pitch angle data.
- FIG. 10 is a diagram showing the pitch motion of the blade when the height of the blade is equal to or greater than the reference height;
- FIG. 10 is a diagram showing the pitch motion of the blade when the height of the blade is below the reference height;
- FIG. 1 is a side view showing a work machine 1 according to the embodiment.
- a working machine 1 according to this embodiment is a bulldozer.
- the working machine 1 includes a vehicle body 11 and a working machine 12 .
- the vehicle body 11 includes a driver's cab 13, an engine room 14, and a traveling device 15.
- a driver's seat (not shown) is arranged in the driver's cab 13 .
- the engine room 14 is arranged in front of the operator's room 13 .
- the travel device 15 is provided under the vehicle body 11 . Traveling device 15 includes a pair of left and right crawler belts 16 . Note that FIG. 1 shows only the left crawler belt 16 . The work machine 1 travels as the crawler belt 16 rotates.
- the working machine 12 is attached to the vehicle body 11.
- the work implement 12 has a lift frame 17 , a blade 18 , a lift actuator 19 and a pitch actuator 20 .
- the lift frame 17 is rotatably supported with respect to the vehicle body 11 about the lift axis X1.
- the lift axis X1 extends in the lateral direction of the vehicle body 11. As shown in FIG. The lift frame 17 lifts up and down by rotating around the lift axis X1.
- the blade 18 is arranged in front of the vehicle body 11 .
- the blade 18 is rotatably supported on the lift frame 17 about the pitch axis X2.
- the pitch axis X2 extends in the lateral direction of the vehicle body 11. As shown in FIG.
- the blade 18 pitches back and forth by rotating around the pitch axis X2.
- the blade 18 moves up and down as the lift frame 17 moves up and down.
- the lift actuator 19 is connected to the vehicle body 11 and the lift frame 17.
- Lift actuator 19 is a hydraulic cylinder. As the lift actuator 19 expands and contracts, the lift frame 17 lifts up and down. The retraction of the lift actuator 19 raises the blade 18 . Extending the lift actuator 19 lowers the blade 18 .
- the pitch actuator 20 is connected to the lift frame 17 and the blade 18.
- Pitch actuator 20 is a hydraulic cylinder.
- the extension and contraction of the pitch actuator 20 causes the blade 18 to pitch forward and backward.
- a portion of the blade 18, for example, the upper end, moves back and forth, causing the blade 18 to pitch around the pitch axis X2.
- Extension of the pitch actuator 20 causes the blade 18 to tilt forward.
- the retraction of the pitch actuator 20 causes the blade 18 to tilt back.
- FIG. 2 is a block diagram showing the configuration of the drive system 2 and control system 3 of the working machine 1.
- the drive system 2 includes an engine 22 , a hydraulic pump 23 and a power transmission device 24 .
- the hydraulic pump 23 is driven by the engine 22 and discharges hydraulic oil. Hydraulic oil discharged from the hydraulic pump 23 is supplied to the lift actuator 19 and the pitch actuator 20 .
- one hydraulic pump is illustrated in FIG. 2, a plurality of hydraulic pumps may be provided.
- the power transmission device 24 transmits the driving force of the engine 22 to the travel device 15 .
- the power transmission device 24 may be, for example, an HST (Hydro Static Transmission).
- the power transmission device 24 may be, for example, a torque converter or a transmission with multiple gears.
- the control system 3 includes a controller 26 and a control valve 27. Controller 26 is programmed to control work machine 1 based on the acquired data. Controller 26 includes storage device 28 and processor 29 . Processor 29 includes, for example, a CPU. Storage device 28 includes, for example, a memory and an auxiliary storage device. The storage device 28 may be, for example, RAM or ROM. The storage device 28 may be a semiconductor memory, hard disk, or the like. Storage device 28 is an example of a non-transitory computer-readable recording medium. Storage device 28 stores computer instructions executable by processor 29 to control work machine 1 .
- the control valve 27 is a proportional control valve and is controlled by a command signal from the controller 26.
- Control valve 27 is positioned between hydraulic actuators, such as lift actuator 19 and pitch actuator 20 , and hydraulic pump 23 .
- the control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 23 to the lift actuator 19 .
- the control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 23 to the pitch actuator 20 .
- the control valve 27 may be a pressure proportional control valve.
- the control valve 27 may be an electromagnetic proportional control valve.
- the control system 3 includes an operation device 31 and an input device 32.
- the operating device 31 includes, for example, a lever. Alternatively, the operating device 31 may include pedals or switches. An operator can use the operation device 31 to manually operate the travel of the work machine 1 and the operation of the work machine 12 .
- the operation device 31 outputs an operation signal indicating the operation of the operation device 31 .
- the controller 26 receives operation signals from the operation device 31 .
- the operating device 31 can operate the lift operation of the blade 18 . Specifically, the operating device 31 can operate the blade 18 to raise and lower it.
- the controller 26 controls the lift actuator 19 so that the blade 18 is lifted.
- the controller 26 controls the lift actuator 19 so that the blade 18 is lowered.
- the operating device 31 can operate the pitch motion of the blade 18 . Specifically, the operating device 31 can operate the blade 18 to tilt forward and backward. When the operator tilts the operation device 31 forward, the controller 26 controls the pitch actuator 20 so that the blade 18 tilts forward. When the operator tilts the operation device 31 backward, the controller 26 controls the pitch actuator 20 so that the blade 18 tilts backward.
- the operating device 31 may be a hydraulic pilot type device.
- the operating device 31 may output pilot hydraulic pressure according to the operation of the operating device 31 .
- the lift actuator 19 or the pitch actuator 20 may be controlled by controlling the control valve 27 with the pilot hydraulic pressure from the operating device 31 .
- the controller 26 may receive a signal indicating the pilot oil pressure as the operation signal.
- the input device 32 includes, for example, a touch panel. However, input device 32 may include other devices such as switches.
- the operator can use the operation device 31 to set the control mode of the pitch angle of the blade 18 by the controller 26 . A control mode for the pitch angle of the blades 18 will be described later in detail.
- the control system 3 is equipped with a sensor 33 that detects the height of the blade 18.
- Sensors 33 include vehicle body sensors 34 , frame sensors 35 and blade sensors 36 .
- the vehicle body sensor 34 is attached to the vehicle body 11 .
- the vehicle body sensor 34 detects the attitude of the vehicle body 11 .
- a frame sensor 35 is attached to the lift frame 17 .
- a frame sensor 35 detects the posture of the lift frame 17 .
- a blade sensor 36 is attached to the blade 18 .
- a blade sensor 36 detects the attitude of the blade 18 .
- the vehicle body sensor 34, the frame sensor 35, and the blade sensor 36 are each an IMU (Inertial Measurement Unit).
- IMU Inertial Measurement Unit
- the frame sensor 35 and the blade sensor 36 are not limited to the IMU, and may be other sensors such as an angle sensor or a cylinder stroke sensor.
- the vehicle body sensor 34 detects the angle (vehicle pitch angle) of the vehicle body 11 in the front-rear direction with respect to the horizontal.
- a frame sensor 35 detects the rotation angle of the lift frame 17 .
- a blade sensor 36 detects the pitch angle of the blade 18 .
- the vehicle body sensor 34, the frame sensor 35, and the blade sensor 36 each output a detection signal indicating the detected angle.
- the controller 26 receives detection signals from the vehicle body sensor 34, the frame sensor 35, and the blade sensor 36.
- the controller 26 calculates the height of the blade 18 from the reference height H0 determined based on the vehicle body 11 based on the detection signal.
- the reference height H0 is the height of the ground contact surface G1 of the crawler belt 16.
- the height of the blade 18 is the height of the cutting edge P0 of the blade 18 from the ground plane G1.
- the controller 26 stores machine dimension data indicating the dimensions and positional relationship of the vehicle body 11, the lift frame 17, and the blades 18.
- the controller 26 calculates the height of the blade 18 from the reference height H0 based on the angles detected by the vehicle body sensor 34, the frame sensor 35, and the blade sensor 36, and the machine dimension data.
- the blade 18 pitch angle control mode includes an automatic mode and a manual mode.
- the controller 26 switches between automatic mode and manual mode according to the operation of the input device 32 .
- the operator can select between the automatic mode and the manual mode by operating the input device 32 .
- FIGS. 4A-4C are diagrams showing the pitch angles of the blades 18.
- the pitch angle ⁇ 1- ⁇ 3 of the blade 18 is the angle between the cutting edge P0 of the blade 18 and the ground plane G1 of the crawler belt 16.
- FIGS. 4B shows the pitch angle ⁇ 2 of the blade 18 in the standard state.
- FIG. 4A shows the pitch angle ⁇ 1 of the blade 18 tilted forward from the standard state.
- FIG. 4C shows the pitch angle ⁇ 3 of the blade 18 tilted more backward than the standard state.
- the pitch angle increases as the blade 18 tilts forward.
- the pitch angle decreases as the blade 18 tilts backward. That is, ⁇ 1> ⁇ 2> ⁇ 3.
- the controller 26 stores pitch angle data.
- the pitch angle data defines the relationship between the height of the blades 18 and the target pitch angle of the blades 18 .
- the pitch angle data is stored in the controller 26 in the form of a map, for example.
- the pitch angle data may be stored in the controller 26 in other formats such as formulas, not limited to maps.
- the controller 26 refers to the pitch angle data and determines the target pitch angle from the height of the blades 18.
- the controller 26 controls the pitch actuator 20 so that the pitch angle of the blade 18 becomes the target pitch angle.
- FIG. 5 is a diagram showing an example of pitch angle data.
- the solid line in FIG. 5 indicates an example of pitch angle data in this embodiment.
- the chain double-dashed line indicates changes in the pitch angle when the pitch angle control mode is not performed. That is, the chain double-dashed line in FIG. 5 indicates changes in the pitch angle when the pitch motion of the blade 18 is fixed (hereinafter referred to as the uncontrolled pitch angle).
- the pitch angle changes in proportion to the change in the height of the blade 18 between the maximum value Hmax and the minimum value Hmin, as indicated by the two-dot chain line in FIG.
- the change in pitch angle during non-control indicates the change in pitch angle due to the rotation of the lift frame 17 about the lift axis X1.
- the pitch angle decreases at a constant rate as the height of the blades 18 increases.
- the pitch angle data in the automatic mode in this embodiment defines a target pitch angle larger than that in non-control for a blade 18 height greater than 0. Therefore, as shown in FIG. 6, the controller 26 controls the pitch actuator 20 to tilt the blade 18 forward more than when the blade 18 is not controlled when the blade 18 is positioned above the reference height H0.
- the two-dot chain line indicates the posture of the blade 18 when not controlled.
- the absolute value of the slope of the pitch angle data when the height of the blade 18 is in the first range (0-H1) is greater than when not controlled.
- the first range (0-H1) is the range of blade 18 heights from 0 to H1.
- H1 is a value between 0 and Hmax.
- the absolute value of the inclination of the pitch angle data when the height of the blade 18 is in the second range (H1-Hmax) is the same as when not controlled.
- the second range is the height of the blade 18 from H1 to Hmax.
- controller 26 changes the pitch angle of the blade 18 in the direction of tilting the blade 18 forward according to the increase in the height of the blade 18. .
- Controller 26 fixes the pitch motion of blade 18 by pitch actuator 20 when the height of blade 18 is within the second range (H1-Hmax).
- a target pitch angle smaller than that in the non-controlled state is defined for a height of the blade 18 smaller than 0. Therefore, as shown in FIG. 7, the controller 26 controls the pitch actuator 20 so that the blade 18 is tilted more backward than when not controlled when the blade 18 is positioned below the reference height H0.
- the two-dot chain line indicates the posture of the blade 18 when not controlled.
- the third range (0-H2) is the range of blade 18 heights from 0 to H2.
- H2 is a value between 0 and Hmin.
- the absolute value of the inclination of the pitch angle data when the height of the blade 18 is in the fourth range (H2-Hmin) is the same as when not controlled.
- the fourth range (H2-Hmin) is the range from H2 to Hmin for the height of the blade 18 .
- the controller 26 changes the pitch angle of the blade 18 in the direction of tilting the blade 18 backward according to the decrease in the height of the blade 18. .
- the controller 26 fixes the pitch motion of the blade 18 by the pitch actuator 20 when the height of the blade 18 is within the fourth range (H2-Hmin).
- the pitch actuator 20 is controlled to change the pitch angle of the blade 18 according to the operation of the operating device 31. Also, when the operation device 31 is not operated, the pitch actuator 20 is controlled so as to maintain the pitch angle of the blade 18 . For example, when the operation device 31 is not operated, the controller 26 controls the pitch actuator 20 so as to maintain the pitch angle of the blades 18 even if some hydraulic oil leaks from the control valve 27 .
- the pitch actuator 20 is automatically controlled to change the pitch angle of the blade 18 according to the height of the blade 18 in the automatic mode. Therefore, in the work machine 1, the pitch angle of the blade 18 can be adjusted easily and appropriately.
- the pitch actuator 20 is controlled to tilt the blade 18 forward more than when not controlled.
- the blade 18 is positioned above the reference height H0, ground leveling or soil removal work is often performed. Therefore, when the blade 18 is positioned above the reference height H0, the blade 18 tilts forward, thereby improving workability in leveling or discharging work.
- the pitch actuator 20 is controlled to tilt the blade 18 more rearward than when not controlled.
- Excavation work is often performed when the blade 18 is positioned below the reference height H0. Therefore, when the blade 18 is positioned below the reference height H0, the blade 18 tilts backward, thereby improving workability in the excavation work.
- the automatic mode allows the pitch angle of the blade 18 to be easily and appropriately adjusted according to the work content.
- the working machine 1 is not limited to a bulldozer, and may be other vehicles such as a wheel loader and a motor grader.
- the controller 26 may have multiple controllers separate from each other.
- the processing by the controller 26 is not limited to the above embodiment, and may be modified. A part of the processing in the automatic mode or manual mode described above may be omitted. Alternatively, part of the processing described above may be changed.
- the lift actuator 19 and the pitch actuator 20 are not limited to hydraulic cylinders.
- the lift actuator 19 and the pitch actuator 20 may be other actuators such as electric motors, for example.
- the pitch angle data are not limited to those in the above embodiment, and may be changed.
- the pitch angle data may have a slope different from that during non-control even in the second range.
- Even in the fourth range, the pitch angle data may have an inclination different from that during non-control.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
16 履帯
17 リフトフレーム
18 ブレード
19 リフトアクチュエータ
20 ピッチアクチュエータ
26 コントローラ
31 操作装置
33 センサ
Claims (16)
- 車体と、
前記車体に対してリフト軸回りに回動可能に支持されるリフトフレームと、
前記リフトフレームに対してピッチ軸回りに回動可能に支持されるブレードと、
前記リフトフレームと前記車体とに接続され、前記リフトフレームを前記リフト軸回りに上下にリフト動作させるリフトアクチュエータと、
前記ブレードと前記リフトフレームとに接続され、前記ブレードを前記ピッチ軸回りにピッチ動作させるピッチアクチュエータと、
前記車体に基づいて定められる基準高さからの前記ブレードの高さを検出するセンサと、
前記ブレードの高さに応じて、前記ブレードのピッチ角を変更するように前記ピッチアクチュエータを制御するコントローラと、
を備える作業機械。 - 前記コントローラは、前記ブレードが前記基準高さよりも上方に位置するときには、前記ブレードの前記ピッチ動作が固定されているときよりも、前記ブレードを前傾させるように、前記ピッチアクチュエータを制御する、
請求項1に記載の作業機械。 - 前記コントローラは、前記ブレードが前記基準高さよりも上方に位置するときには、前記ブレードの高さの増大に応じて、前記ブレードを前傾させる方向に前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御する、
請求項2に記載の作業機械。 - 前記コントローラは、前記ブレードが前記基準高さよりも下方に位置するときには、前記ブレードの前記ピッチ動作が固定されているときよりも、前記ブレードを後傾させるように、前記ピッチアクチュエータを制御する、
請求項1から3のいずれかに記載の作業機械。 - 前記コントローラは、前記ブレードが前記基準高さよりも下方に位置するときには、前記ブレードの高さの減少に応じて、前記ブレードを後傾させる方向に前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御する、
請求項4に記載の作業機械。 - 前記車体は、履帯を含み、
前記基準高さは、前記履帯の接地面の高さである、
請求項1から5のいずれかに記載の作業機械。 - 前記コントローラは、
前記ブレードの高さと前記ブレードの目標ピッチ角との関係を規定するピッチ角データを記憶しており、
前記ピッチ角データを参照して、前記ブレードの高さから前記目標ピッチ角を決定し、
前記ブレードのピッチ角が前記目標ピッチ角となるように、前記ピッチアクチュエータを制御する、
請求項1から6のいずれかに記載の作業機械。 - 前記ブレードのピッチ角を手動で操作するための操作装置をさらに備え、
前記コントローラは、
前記操作装置の操作を示す操作信号を取得し、
前記操作装置の操作に応じて前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御し、
前記操作装置の操作が無いときには、前記ブレードのピッチ角を維持するように、前記ピッチアクチュエータを制御する、
請求項1から7のいずれかに記載の作業機械。 - 車体と、前記車体に対してリフト軸回りに回動可能に支持されるリフトフレームと、前記リフトフレームに対してピッチ軸回りに回動可能に支持されるブレードと、前記リフトフレームと前記車体とに接続され、前記リフトフレームを前記リフト軸回りに上下にリフト動作させるリフトアクチュエータと、前記ブレードと前記リフトフレームとに接続され、前記ブレードを前記ピッチ軸回りにピッチ動作させるピッチアクチュエータと、を備える作業機械を制御するための方法であって、
前記車体に基づいて定められる基準高さからの前記ブレードの高さを検出することと、 前記ブレードの高さに応じて、前記ブレードのピッチ角を変更するように前記ピッチアクチュエータを制御すること、
を備える方法。 - 前記ブレードが前記基準高さよりも上方に位置するときには、前記ブレードの前記ピッチ動作が固定されているときよりも、前記ブレードを前傾させるように、前記ピッチアクチュエータを制御することをさらに備える、
請求項9に記載の方法。 - 前記ブレードが前記基準高さよりも上方に位置するときには、前記ブレードの高さの増大に応じて、前記ブレードを前傾させる方向に前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御することをさらに備える、
請求項10に記載の方法。 - 前記ブレードが前記基準高さよりも下方に位置するときには、前記ブレードの前記ピッチ動作が固定されているときよりも、前記ブレードを後傾させるように、前記ピッチアクチュエータを制御すること、
をさらに備える請求項9から11のいずれかに記載の方法。 - 前記ブレードが前記基準高さよりも下方に位置するときには、前記ブレードの高さの減少に応じて、前記ブレードを後傾させる方向に前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御すること、
をさらに備える請求項12に記載の方法。 - 前記車体は、履帯を含み、
前記基準高さは、前記履帯の接地面の高さである、
請求項9から13のいずれかに記載の方法。 - 前記ブレードの高さと前記ブレードの目標ピッチ角との関係を規定するピッチ角データを参照して、前記ブレードの高さから前記目標ピッチ角を決定することと、
前記ブレードのピッチ角が前記目標ピッチ角となるように、前記ピッチアクチュエータを制御すること、
をさらに備える請求項9から14のいずれかに記載の方法。 - 前記ブレードのピッチ角を手動で操作するための操作装置の操作を示す操作信号を取得することと、
前記操作装置の操作に応じて前記ブレードのピッチ角を変更するように、前記ピッチアクチュエータを制御することと、
前記操作装置の操作が無いときには、前記ブレードのピッチ角を維持するように、前記ピッチアクチュエータを制御すること、
をさらに備える請求項9から15のいずれかに記載の方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/258,905 US20240044103A1 (en) | 2021-04-28 | 2022-03-14 | Work machine and method for controlling work machine |
CN202280009090.3A CN116745490A (zh) | 2021-04-28 | 2022-03-14 | 工程机械、及用于控制工程机械的方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-076600 | 2021-04-28 | ||
JP2021076600A JP2022170460A (ja) | 2021-04-28 | 2021-04-28 | 作業機械、及び作業機械を制御するための方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022230398A1 true WO2022230398A1 (ja) | 2022-11-03 |
Family
ID=83848320
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/011358 WO2022230398A1 (ja) | 2021-04-28 | 2022-03-14 | 作業機械、及び作業機械を制御するための方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240044103A1 (ja) |
JP (1) | JP2022170460A (ja) |
CN (1) | CN116745490A (ja) |
WO (1) | WO2022230398A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5129602U (ja) * | 1974-08-23 | 1976-03-03 | ||
JPS6327571U (ja) * | 1986-08-01 | 1988-02-23 | ||
JPH0492066U (ja) * | 1990-12-18 | 1992-08-11 | ||
JP2017521580A (ja) * | 2014-06-13 | 2017-08-03 | キャタピラー インコーポレイテッドCaterpillar Incorporated | 土工機械用のオペレータ支援アルゴリズム |
JP2021017763A (ja) * | 2019-07-22 | 2021-02-15 | 株式会社小松製作所 | ブルドーザを制御するためのシステム及び方法 |
-
2021
- 2021-04-28 JP JP2021076600A patent/JP2022170460A/ja active Pending
-
2022
- 2022-03-14 US US18/258,905 patent/US20240044103A1/en active Pending
- 2022-03-14 CN CN202280009090.3A patent/CN116745490A/zh active Pending
- 2022-03-14 WO PCT/JP2022/011358 patent/WO2022230398A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5129602U (ja) * | 1974-08-23 | 1976-03-03 | ||
JPS6327571U (ja) * | 1986-08-01 | 1988-02-23 | ||
JPH0492066U (ja) * | 1990-12-18 | 1992-08-11 | ||
JP2017521580A (ja) * | 2014-06-13 | 2017-08-03 | キャタピラー インコーポレイテッドCaterpillar Incorporated | 土工機械用のオペレータ支援アルゴリズム |
JP2021017763A (ja) * | 2019-07-22 | 2021-02-15 | 株式会社小松製作所 | ブルドーザを制御するためのシステム及び方法 |
Also Published As
Publication number | Publication date |
---|---|
CN116745490A (zh) | 2023-09-12 |
US20240044103A1 (en) | 2024-02-08 |
JP2022170460A (ja) | 2022-11-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6242919B2 (ja) | 作業車両 | |
JP6815835B2 (ja) | 作業車両の制御システム、制御方法、及び作業車両 | |
CN107306500B (zh) | 作业机械的控制装置、作业机械以及作业机械的控制方法 | |
JP4493990B2 (ja) | 走行式油圧作業機 | |
JP6959899B2 (ja) | ホイールローダ | |
CA3031622C (en) | Control system for work vehicle, control method, and work vehicle | |
WO2022230398A1 (ja) | 作業機械、及び作業機械を制御するための方法 | |
JP6691482B2 (ja) | 作業車両および動作制御方法 | |
WO2022255001A1 (ja) | 作業機械、及び作業機械を制御するための方法 | |
WO2022255064A1 (ja) | 作業機械、及び作業機械を制御するための方法 | |
WO2023276528A1 (ja) | 作業機械、及び作業機械を制御するための方法 | |
WO2023276529A1 (ja) | 作業機械、及び、作業機械を制御するための方法 | |
CN112739874B (zh) | 作业机械 | |
JP6901406B2 (ja) | 作業機械および作業機械の制御方法 | |
JP6876623B2 (ja) | 作業機械および作業機械の制御方法 | |
WO2020045017A1 (ja) | 作業機械のブレード制御装置 | |
JP2015194015A (ja) | フロントローダ | |
JP2015194014A (ja) | フロントローダ |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22795321 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18258905 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280009090.3 Country of ref document: CN |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 22795321 Country of ref document: EP Kind code of ref document: A1 |