WO2023182320A1 - ホイールローダの制御装置 - Google Patents
ホイールローダの制御装置 Download PDFInfo
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- WO2023182320A1 WO2023182320A1 PCT/JP2023/011062 JP2023011062W WO2023182320A1 WO 2023182320 A1 WO2023182320 A1 WO 2023182320A1 JP 2023011062 W JP2023011062 W JP 2023011062W WO 2023182320 A1 WO2023182320 A1 WO 2023182320A1
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- WIPO (PCT)
- Prior art keywords
- control device
- bucket
- wheels
- vehicle body
- determination unit
- Prior art date
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- 238000009412 basement excavation Methods 0.000 claims abstract description 165
- 238000000034 method Methods 0.000 claims description 81
- 230000008569 process Effects 0.000 claims description 76
- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000008859 change Effects 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000004904 shortening Methods 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 37
- 230000002265 prevention Effects 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 230000004044 response Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 8
- 230000008602 contraction Effects 0.000 description 7
- 230000007423 decrease Effects 0.000 description 5
- 238000009987 spinning Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000001141 propulsive effect Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
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- 238000005452 bending Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 230000003247 decreasing effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- 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
-
- 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
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/415—Wheel loaders
Definitions
- the present invention relates to a control device for a wheel loader.
- a wheel loader is a working machine that runs on four-wheel drive wheels and is steered by a folding mechanism, and its derivative machines.
- a working device such as a bucket that scoops up objects such as earth and sand on the ground is connected to the front of the vehicle body of the wheel loader.
- the control device of the wheel loader controls the height and angle of the bucket, as well as the speed and direction of the vehicle body, according to the operations of an operator in the driver's cab.
- the wheel loader performs excavation work in which the object is excavated with a bucket, transport work in which the object loaded in the bucket is moved to the loading bed of a dump truck, and discharge work from the bucket to the loading bed of the dump truck. Loading work can be carried out.
- a bucket that is approximately parallel to the ground is moved close to the ground, and then the vehicle body is accelerated forward by operating the accelerator pedal, etc., and the bucket rushes into the target object.
- a digging operation is performed to scoop up the object.
- the vehicle body is moved forward while adjusting the amount of rotation of the wheels by operating an accelerator pedal or the like.
- the bucket is lifted upward by operating the lift operating lever, and the bucket is rotated (tilted) toward the cloud by operating the bucket operating lever.
- the object is stored inside the bucket, and the bucket becomes loaded.
- Patent Document 1 discloses an automatic excavation technology that lifts the bucket and rotates it toward the cloud in a fully accelerator state.
- Patent Document 2 discloses that, using Patent Document 1 as the prior art, when the wheel loader approaches the excavation start position, the vehicle speed is reduced by increasing the engine rotation speed and decreasing the tilting rate of the traveling hydraulic motor. , a technique for suppressing the impact at the start of the excavation operation (when the bucket plunges into the object) has been disclosed.
- Patent Document 3 uses Patent Document 2 as the prior art, and instead of reducing the tilting rate of the travel hydraulic motor, the transmission speed stage is shifted to the lower speed side to reduce the impact at the start of the excavation operation.
- a suppressing technology has been disclosed, and efforts are being made to expand the range of applicable models.
- Patent Document 2 and Patent Document 3 reduce the vehicle speed before the start of the excavation operation in order to suppress the impact at the start of the excavation operation.
- the working time required for the excavation work increases, and the productivity of the excavation work may decrease.
- the technique disclosed in Patent Document 1 does not take into account the reduction of the working time required for excavation work, and there is room for improvement.
- an object of the present invention is to provide a control device for a wheel loader that can shorten the working time required for excavation work and improve the productivity of excavation work.
- a control device for a wheel loader is a control device for a wheel loader that excavates a target object by moving the vehicle body forward by rotating the wheels and plunging the bucket into the target object.
- the control device moves the vehicle body forward with the bucket plunged into the object, and brakes the wheels when the rotational speed of the wheels exceeds a predetermined threshold. shall be.
- FIG. 1(a) is a side view showing the appearance of a wheel loader
- FIG. 1(b) is a perspective view of FIG. 1(a).
- FIG. 2 is a system diagram of the wheel loader shown in FIG. 1(a).
- 1 is a block diagram showing a functional configuration of a control device according to a first embodiment
- FIG. 4 is a flowchart showing processing performed by the control device shown in FIG. 3.
- FIG. 3 is a block diagram showing the functional configuration of a control device according to a second embodiment.
- FIG. 3 is a block diagram showing the functional configuration of a control device according to a third embodiment.
- FIG. 7 is a block diagram showing the functional configuration of a control device according to a fourth embodiment.
- FIG. 1(a) is a side view showing the appearance of the wheel loader 1.
- FIG. 1(b) is a perspective view of FIG. 1(a).
- the wheel loader 1 is a working machine and a derivative machine that runs on four-wheel drive wheels 5f and 5r and is steered in a folding manner.
- a working device 4 such as a bucket 3 for scooping up objects such as earth and sand on the ground is connected to the front of the vehicle body 2 of the wheel loader 1.
- the control device 120 of the wheel loader 1 controls the height and angle of the bucket 3 (that is, the attitude of the bucket 3), as well as the vehicle speed and direction of the vehicle body 2, according to operations by an operator in the operator's cab 7.
- the wheel loader 1 performs excavation work to excavate the object with the bucket 3, transportation work to move the object loaded in the bucket 3 to the loading bed of the dump truck, and transport work to move the object from the bucket 3 to the dump truck. It is possible to carry out loading work by releasing the cargo onto a loading platform.
- the vehicle body 2 includes a front frame 6 having a working device 4 and a front wheel 5f, and a rear frame 8 having a rear wheel 5r, a driver's cab 7, and an engine 100.
- the front frame 6 and the rear frame 8 are connected by a center pin 9 so as to be bendable in the left-right direction, and the bending angle can be changed by steer cylinders 10L and 10R provided on the left and right sides of the center pin 9.
- the vehicle body 2 is steered by expanding and contracting the steer cylinders 10L and 10R while the vehicle is running and changing the angle (bending angle) of the front frame 6 with respect to the rear frame 8.
- the working device 4 has a lift arm 11 rotatably connected to the front frame 6 and a bucket 3 rotatably connected to the lift arm 11.
- the lift arm 11 is connected to a lift cylinder 12.
- the lift cylinder 12 is connected to the front frame 6 so that the front frame 6 can support the load of the bucket 3 connected to the lift arm 11.
- the lift cylinder 12 lifts the bucket 3 by rotating the lift arm 11 upward, and lowers the bucket 3 by rotating the lift arm 11 downward.
- a lift cylinder pressure sensor 12b that measures the pressure in the bottom chamber of the lift cylinder 12 is attached to the lift cylinder 12.
- the mounting position of the lift cylinder pressure sensor 12b is not particularly limited as long as it can measure the same pressure as the pressure in the bottom chamber of the lift cylinder 12.
- the bucket 3 is rotatably connected to the lift arm 11 at a fulcrum 13.
- the fulcrum 13 is connected to a bucket cylinder 16 via a push rod 14 and a bell crank 15 so that the angle of the bucket 3 with respect to the lift arm 11 can be changed.
- the bucket cylinder 16 is connected to the front frame 6 at a fulcrum 17.
- the height of the bucket 3 can be changed by expanding and contracting the lift cylinder 12.
- the angle of the bucket 3 can be changed by expanding and contracting the bucket cylinder 16.
- a bell crank angle sensor 19a and a lift arm angle sensor 19b are attached to the working device 4 so that the height and angle of the bucket 3 (that is, the attitude of the bucket 3) can be calculated from known dimensions.
- FIG. 2 is a system diagram of the wheel loader 1 shown in FIG. 1(a).
- the output shaft 100a of the engine 100 which is the power source for the wheels 5f and 5r, is directly connected to a torque converter 101, a hydraulic pump 102, and a brake pump 103.
- the rotation speed of the engine 100 is controlled by an electrical signal 105s from the engine controller 104.
- the engine controller 104 controls the rotation speed of the engine 100 according to the amount of depression of the accelerator pedal 106 or the electric signal 106s from the control device 120.
- Torque converter 101 has a structure such that the larger the rotation speed of engine 100 is relative to the output rotation speed of torque converter 101, the greater the power transmitted to transmission 107.
- the power output from torque converter 101 increases as the amount of depression of accelerator pedal 106 increases and the rotational speed of engine 100 increases.
- the transmission 107 disconnects the output shaft of the torque converter 101 from the drive shaft 108 or reverses the direction of rotation of the drive shaft 108 in response to the electric signal 110s from the transmission controller 109.
- Transmission 107 together with torque converter 101 and drive shaft 108, transmits power from engine 100 to wheels 5f and 5r.
- the connection between the output shaft of the torque converter 101 and the drive shaft 108 is cut off, the transmission of power from the engine 100 to the wheels 5f, 5r is cut off, and the driving force of the wheels 5f, 5r is reduced.
- the rotational direction of the drive shaft 108 is reversed, the direction of the driving force of the wheels 5f, 5r is reversed, and the rotational direction of the wheels 5f, 5r is reversed.
- the transmission controller 109 sends an electric signal 110s to disconnect the output shaft of the torque converter 101 and the drive shaft 108 when the amount of depression of the brake pedal 112 is above a certain level or in response to an electric signal 107s from the control device 120. Output.
- a vehicle speed sensor 21 is attached to the transmission 107.
- the vehicle speed sensor 21 measures the rotational speed of the wheels 5f and 5r from the rotational speed of the drive shaft 108.
- the vehicle speed sensor 21 can measure the vehicle speed of the vehicle body 2 by calculating the amount of movement of the vehicle body 2 per unit time from the rotational speed of the wheels 5f, 5r and the dimensions of the wheels 5f, 5r.
- the hydraulic pump 102 discharges a certain amount of pressure oil every time the output shaft 100a of the engine 100 rotates once. Pressure oil discharged from the hydraulic pump 102 is supplied to the lift cylinder 12 and the bucket cylinder 16 via the bucket drive hydraulic circuit 113, respectively. Each of the lift cylinder 12 and the bucket cylinder 16 expands and contracts with pressure oil from the bucket drive hydraulic circuit 113. The amount of pressure oil discharged from the hydraulic pump 102 increases as the rotation speed of the engine 100 increases. Therefore, when the rotation speed of the engine 100 is increased by increasing the amount of depression of the accelerator pedal 106, the amount of pressure oil discharged from the hydraulic pump 102 increases. The expansion and contraction speed of the bucket cylinder 16 becomes faster.
- the bucket drive hydraulic circuit 113 cuts off the supply of pressure oil from the hydraulic pump 102 to the lift cylinder 12 in response to the operator's operation of the lift operation lever 114 or the electric signal 113s from the control device 120. Reverse the direction of expansion/contraction. When the supply of pressure oil from the hydraulic pump 102 to the lift cylinder 12 is cut off, the rotational movement of the lift arm 11 is stopped. When the direction of expansion and contraction of the lift cylinder 12 is reversed, the direction of upward or downward rotation of the lift arm 11 is switched.
- the bucket drive hydraulic circuit 113 cuts off the supply of pressure oil from the hydraulic pump 102 to the bucket cylinder 16 in response to the operation of the bucket operation lever 115 by the operator or the electric signal 113s from the control device 120. Reverse the direction of expansion/contraction. When the supply of pressure oil from the hydraulic pump 102 to the bucket cylinder 16 is cut off, the rotational movement of the bucket 3 is stopped. When the direction of expansion and contraction of the bucket cylinder 16 is reversed, the direction of rotation of the bucket 3 toward the dumping direction or toward the cloud is switched.
- Pressure oil discharged from the hydraulic pump 102 is supplied to the steer cylinders 10L and 10R via the steer drive hydraulic circuit 116.
- the steer cylinders 10L and 10R are expanded and contracted by pressure oil from the steer drive hydraulic circuit 116.
- the steer drive hydraulic circuit 116 expands and contracts the steer cylinders 10L and 10R in response to the operator's operation of the steering wheel 117. For example, when the steering wheel 117 is rotated clockwise, the steer drive hydraulic circuit 116 supplies pressure oil discharged from the hydraulic pump 102 so that the right steer cylinder 10R contracts and the left steer cylinder 10L extends. As a result, the vehicle body 2 is steered to turn to the right. For example, when the steering wheel 117 is rotated to the left, the steer drive hydraulic circuit 116 supplies pressure oil discharged from the hydraulic pump 102 so that the right steer cylinder 10R extends and the left steer cylinder 10L contracts. As a result, the vehicle body 2 is steered to turn left.
- the pressure oil discharged from the brake pump 103 is accumulated in the accumulator 103a.
- the pressure oil accumulated in the accumulator 103a is supplied via a brake drive hydraulic circuit 119 to a brake 118 as a braking device that brakes the wheels 5f and 5r.
- the brake drive hydraulic circuit 119 controls the brake pressure applied to the wheels 5f and 5r according to the amount of depression of the brake pedal 112 by the operator or the electric signal 118s from the control device 120.
- the brake pressure applied to the wheels 5f, 5r increases, the braking force applied to the wheels 5f, 5r increases, so the rotational speed of the wheels 5f, 5r decreases, and the vehicle speed of the vehicle body 2 decreases.
- FIG. 3 is a block diagram showing the functional configuration of the control device 120 of the first embodiment.
- the wheel loader 1 performs a running operation in which the bucket 3, which is substantially parallel to the ground, is moved near the ground, and then moves the vehicle body 2 forward to plunge the bucket 3 into the target object.
- a digging operation is performed to scoop up the object with the bucket 3.
- the control device 120 performs an automatic excavation process that controls the travel of the vehicle body 2 and the attitude of the bucket 3 to automatically perform an excavation operation in excavation work.
- the excavation operation performed by the automatic excavation process of this embodiment starts with lifting the bucket 3 while moving the vehicle body 2 forward, and after driving the brake 118 so that the wheels 5f and 5r do not spin (in other words, the wheels 5f and 5r are After braking), the bucket 3 is rotated toward the cloud to bring the bucket 3 into a loaded state, and when the bucket 3 reaches a predetermined height, the lifting operation is stopped.
- control device 120 may perform automatic travel processing that controls the travel of the vehicle body 2 and the attitude of the bucket 3 to automatically perform travel operations during excavation work.
- the driving operation performed by the automatic driving process of this embodiment is to take a digging posture in which the bucket 3 is moved close to the ground with the bucket approximately parallel to the ground, and to move the vehicle body 2 forward while maintaining the vehicle speed of the vehicle body 2 at a predetermined speed or higher. This is an operation in which the bucket 3 is plunged into the object.
- the predetermined speed is, for example, 2 km/h. Thereby, the control device 120 does not reduce the vehicle speed of the vehicle body 2 before the bucket 3 rushes into the target object, so that the time required for the traveling operation of the excavation work can be shortened.
- the control device 120 acquires the rotational speeds of the wheels 5f and 5r (and the vehicle speed of the vehicle body 2) measured by the vehicle speed sensor 21.
- the control device 120 acquires the angle of the bell crank 15 measured by the bell crank angle sensor 19a.
- the control device 120 acquires the angle of the lift arm 11 measured by the lift arm angle sensor 19b.
- the control device 120 acquires the pressure of the lift cylinder 12 (pressure in the bottom chamber) measured by the lift cylinder pressure sensor 12b. Based on the acquired information, the control device 120 outputs an electrical signal 118s indicating a control command for the brake drive hydraulic circuit 119, and also outputs an electrical signal 113s indicating a control command for the bucket drive hydraulic circuit 113. do.
- the control device 120 includes an attitude calculation section 121, an automatic excavation processing section 122, a brake drive command section 125, a lift drive command section 126, and a bucket drive command section 127.
- the posture calculation unit 121 calculates the toe angle and height of the bucket 3 based on the angles of the bell crank 15 and lift arm 11 measured by the bell crank angle sensor 19a and lift arm angle sensor 19b, respectively.
- the toe angle of the bucket 3 is the angle formed between the bottom surface of the bucket 3 and the ground.
- the automatic excavation processing unit 122 performs necessary processing to start automatic excavation processing.
- the automatic excavation processing unit 122 includes a validity determination unit 123 that determines whether automatic excavation processing is valid, and a start determination unit 124 that determines whether or not to start automatic excavation processing.
- the effectiveness determining unit 123 determines whether the automatic excavation process is effective based on the rotational speeds of the wheels 5f and 5r measured by the vehicle speed sensor 21 and the calculation result of the attitude calculation unit 121.
- the automatic excavation processing is effective when the condition is such that if the wheel loader 1 is in its current state and the bucket 3 is plunged into the object and the automatic excavation processing is started, the excavation operation will be performed appropriately. That's true.
- the start determination unit 124 determines whether to start automatic excavation processing based on the determination result of the validity determination unit 123, the calculation result of the attitude calculation unit 121, and the pressure of the lift cylinder 12 measured by the lift cylinder pressure sensor 12b. Determine whether or not.
- the automatic excavation processing unit 122 may generate an operation plan for the automatic excavation process when the start determination unit 124 determines to start the automatic excavation process.
- the automatic excavation processing unit 122 may read an operation plan for automatic excavation processing that has been generated and stored in advance.
- the motion plan may be, for example, changes in target values for the rotational speeds of the wheels 5f and 5r (and the vehicle speed of the vehicle body 2), the angle (toe angle), and the height of the bucket 3.
- the transition of the target values for the angle and height of the bucket 3 is the target movement trajectory of the bucket 3.
- the automatic excavation processing section 122 may output the operation plan to the brake drive command section 125, the lift drive command section 126, and the bucket drive command section 127.
- the brake drive command section 125 calculates the brake pressure to be applied to the wheels 5f, 5r based on the rotational speed of the wheels 5f, 5r measured by the vehicle speed sensor 21 and the output from the automatic excavation processing section 122, and applies the brake pressure to the wheels 5f, 5r.
- a control command for the pressure control solenoid valve 119a is generated.
- the brake drive command section 125 generates an electric signal 118s indicating the generated control command, and outputs it to the brake pressure control solenoid valve 119a of the brake drive hydraulic circuit 119.
- the lift drive command unit 126 calculates the amount of expansion and contraction of the lift cylinder 12 based on the output from the automatic excavation processing unit 122 and generates a control command for the bucket drive hydraulic circuit 113.
- the lift drive command unit 126 generates an electric signal 113s indicating the generated control command, and outputs it to the bucket drive hydraulic circuit 113.
- the bucket drive command unit 127 calculates the amount of expansion and contraction of the bucket cylinder 16 based on the output from the automatic excavation processing unit 122, and generates a control command for the bucket drive hydraulic circuit 113.
- the bucket drive command unit 127 generates an electric signal 113s indicating the generated control command, and outputs it to the bucket drive hydraulic circuit 113.
- FIG. 4 is a flowchart showing the processing performed by the control device 120 shown in FIG. 3.
- step S101 the control device 120 uses the validity determination unit 123 to determine whether the automatic excavation process is valid. If the validity determining unit 123 determines that the automatic excavation process is valid, the control device 120 moves to step S102. If the validity determining unit 123 does not determine that the automatic excavation process is valid, the control device 120 repeats step S101, for example, every second, until it is determined that the automatic excavation process is valid.
- the validity determination unit 123 determines that the automatic excavation process is effective when the bucket 3 is in an excavation posture within a predetermined range and the vehicle body 2 is moving forward.
- the excavation posture in which the bucket 3 falls within a predetermined range is a posture in which the bucket 3 is approximately parallel to the ground (the toe angle is within 10 degrees) and the height of the bucket 3 is near the ground.
- the vehicle body 2 moving forward may mean that the vehicle speed of the vehicle body 2 is equal to or higher than a predetermined speed.
- the predetermined speed is, for example, 2 km/h.
- step S102 the control device 120 uses the automatic excavation processing unit 122 to perform preparatory operations for the automatic excavation process on the wheel loader before the start determination unit 124 determines whether or not to start the automatic excavation process in step S103. Let 1 do it.
- the preparatory operation for automatic excavation processing means for example, that the bottom chamber or the rod chamber of the lift cylinder 12, which rotates the lift arm 11 upward, is filled with pressurized oil within a range in which the lift cylinder 12 does not actually expand or contract. It is important to provide a supply of As a result, the control device 120 changes the position of the electromagnetic proportional valve included in the bucket drive hydraulic circuit 113 from the neutral position to the lift arm 11 before the start determination unit 124 determines whether to start automatic excavation processing. can be moved to the side where it is rotated upward. The control device 120 can shorten the response time of the lift cylinder 12 from when the start determination unit 124 determines to start the automatic excavation process until the lift cylinder 12 actually expands and contracts. Therefore, since the control device 120 can immediately start lifting the bucket 3 during automatic excavation processing, it is possible to shorten the time required for the excavation operation during the excavation operation.
- the preparatory actions for automatic excavation processing include, for example, sounding a buzzer installed on the wheel loader 1, lighting a lamp, displaying a monitor, etc. to inform the operator or surrounding workers of the automatic excavation processing. It may be possible to notify in advance that it will start. Thereby, the control device 120 can alleviate the psychological impact on the operator or surrounding workers, since the automatic excavation process will not start suddenly for the operator or surrounding workers.
- step S103 the control device 120 uses the start determination unit 124 to determine whether or not to start the automatic excavation process.
- the control device 120 starts the automatic excavation process and moves to step S104. If the start determination unit 124 does not determine to start the automatic excavation process, the control device 120 repeats step S103, for example, every second, until it determines to start the automatic excavation process.
- the start determination unit 124 determines that the automatic excavation process is determined to be valid by the validity determination unit 123, that the bucket 3 is in the digging position, and that the pressure of the lift cylinder 12 that lifts the bucket 3 exceeds a predetermined pressure. If the value changes to , it is determined that automatic excavation processing is to be started.
- the criteria for determining whether the bucket 3 is in the digging position may be the same as in step S101.
- the predetermined pressure which is a criterion for the pressure of the lift cylinder 12, is a value greater than the pressure of the lift cylinder 12 when the bucket 3 moves forward in an empty state, and is the pressure received from the object when the bucket 3 plunges into the object. The value may be smaller than the pressure in the lift cylinder 12 that increases due to the impact.
- the lower limit value of the predetermined pressure which is the criterion for the pressure of the lift cylinder 12 is set as the pressure of the lift cylinder 12 when the bucket 3 moves forward in an empty state. This is because it has already been determined that the That is, when the bucket 3 moves forward in an excavating position, the bucket 3 moves forward in a position substantially parallel to the ground, so even if the bucket 3 is loaded, many objects fall from the bucket 3. When the bucket 3 moves forward in the excavation position, it is normally not possible for the bucket 3 to maintain its loaded state. Therefore, it is reasonable to set the lower limit of the predetermined pressure, which is a criterion for the pressure of the lift cylinder 12, to be the pressure of the lift cylinder 12 when the bucket 3 moves forward in an empty state.
- the control device 120 starts the automatic excavation process. Specifically, as automatic excavation processing, the control device 120 starts lifting the bucket 3 that has entered the object while moving the vehicle body 2 forward. At this time, the control device 120 rotates the wheels 5f and 5r so that the vehicle body 2 moves forward even if the bucket 3 rushes into the object and receives a reaction force. The rotational speeds of the wheels 5f and 5r may be maintained by the control device 120 to be equal to or higher than a threshold value BE, which will be described later.
- a threshold value BE which will be described later.
- the control device 120 controls, when the vehicle speed of the vehicle body 2 falls below a predetermined speed (for example, 2 km/h) in step S103, You may move to step S101 again. Then, the control device 120 may repeat step S101 every second, for example, until it is determined that the automatic excavation process is effective.
- a predetermined speed for example, 2 km/h
- step S104 the control device 120 determines whether the rotational speeds of the wheels 5f, 5r exceed the threshold value BS. If the rotational speeds of the wheels 5f and 5r exceed the threshold value BS, the control device 120 moves to step S105. When the rotational speed of the wheels 5f and 5r is equal to or lower than the threshold value BS, the control device 120 rotates the bucket 3 in the direction of the cloud to place the bucket 3 in a loaded state, and stops lifting the bucket when the bucket 3 reaches a predetermined height. . After that, the control device 120 ends the process shown in FIG. 4.
- the threshold value BS is a predetermined threshold value to prevent the wheels 5f and 5r from spinning.
- the threshold value BS indicates the rotational speed of the wheels 5f, 5r at which the wheels 5f, 5r do not spin even if the bucket 3 rushes into the object and attempts to move the vehicle body 2 forward.
- the threshold value BS may be a criterion for determining whether to start a slip prevention process for driving the brake 118 so that the wheels 5f and 5r do not slip.
- Threshold value BS is a value larger than threshold value BE, which will be described later.
- the threshold value BS may be, for example, 6 km/h when converted to the vehicle speed of the vehicle body 2.
- the threshold value BS is a value set through experiments or the like based on the shape and hardness (easiness of entry) of the excavated object, the slipperiness of the ground, and the like.
- the threshold value BS can be adjusted depending on the work site of the wheel loader 1. For example, when the ground on which the vehicle body 2 travels is a slippery snow surface, the threshold value BS is adjusted to a smaller value than usual. For example, if the object is light like sawdust and easily penetrates, and the impact given to the bucket 3 is small, the threshold value BS is adjusted to a value larger than normal. Further, the control device 120 uses the vehicle speed of the vehicle body 2 and the threshold value BS based on the vehicle speed instead of the rotation speed of the wheels 5f and 5r to determine whether or not to start the slip prevention process. Good too.
- step S105 the control device 120 starts a spin prevention process that drives the brake 118 so that the wheels 5f and 5r do not spin.
- the control device 120 of this embodiment outputs an electric signal 118s indicating a control command to apply a predetermined brake pressure to the wheels 5f, 5r to the brake pressure control solenoid valve 119a.
- the amount of rotation of the wheels 5f, 5r decreases, and the rotational speed of the wheels 5f, 5r is reduced.
- control device 120 moves the vehicle body 2 forward with the bucket 3 plunged into the object by performing steps S104 and S105, and when the rotational speed of the wheels 5f and 5r exceeds the threshold value BS, The brake 118 is driven to brake the wheels 5f, 5r so that they do not spin idly.
- the predetermined brake pressure applied to the wheels 5f, 5r is set so that the wheels 5f, 5r do not spin in response to deceleration when the vehicle body 2 decelerates due to the reaction force that the bucket 3 receives from the object.
- the brake pressure may be such as to suppress the amount of rotation.
- This predetermined brake pressure can be calculated in advance from the specifications of the wheel loader 1 or from experiments. For example, assume that the deceleration A of the vehicle body 2 due to the reaction force from the object is -4 m/s 2 . Assume that the maximum brake pressure corresponding to the maximum amount of depression of the brake pedal 112 is 5 MPa, and the deceleration B of the wheels 5f, 5r when the maximum brake pressure is applied to the wheels 5f, 5r is -6 m/ s2 . . Assume that the deceleration C of the wheels 5f, 5r relative to the ground when the wheels 5f, 5r are spinning is -3 m/s 2 .
- the deceleration B of the wheels 5f and 5r when the maximum brake pressure is applied must be 1/6 of the deceleration B of the wheels 5f and 5r when the maximum brake pressure is applied.
- the deceleration C of the wheels 5f and 5r relative to the ground during idling may be made larger than that. Therefore, in this case, the predetermined brake pressure can be calculated as 5/6 MPa, which is 1/6 of the maximum brake pressure of 5 MPa.
- the predetermined brake pressure may be calculated to be 1 MPa, which is equivalent to 1/5 of the maximum brake pressure of 5 MPa.
- the deceleration A of the vehicle body 2 due to the reaction force from the object, the deceleration B of the wheels 5f and 5r when maximum brake pressure is applied, and the deceleration C of the wheels 5f and 5r relative to the ground when idling are determined by the wheel loader. 1 can be calculated in advance from the specifications or experiments.
- the deceleration C of the wheels 5f, 5r relative to the ground when the wheels are idling may be calculated by setting the acceleration of the wheels 5f, 5r relative to the ground when the wheels 5f, 5r are idling to a negative number.
- the above calculation method at a predetermined brake pressure has the aim of reducing the amount of rotation of the wheels 5f, 5r by driving the brake 118.
- the above calculation method at a predetermined brake pressure has the aim of allowing the wheels 5f and 5r to obtain propulsive force from the ground without reducing the amount of rotation of the wheels 5f and 5r too much by driving the brake 118. be.
- the propulsive force that the wheels 5f, 5r obtain from the ground increases in proportion to the difference between the amount of rotation of the wheels 5f, 5r and the amount of movement of the wheels 5f, 5r relative to the ground. However, if this difference is too large, the wheels 5f and 5r will spin idly, and the propulsive force obtained from the ground will drop sharply.
- the amount of movement of the wheels 5f and 5r relative to the ground can be calculated based on the vehicle speed of the vehicle body 2 before the bucket 3 rushes into the object and the deceleration A of the vehicle body 2 due to the reaction force from the object.
- the amount of rotation of the wheels 5f, 5r can be calculated from the rotational speed of the wheels 5f, 5r measured by the vehicle speed sensor 21.
- the amount of rotation of the wheels 5f, 5r and the amount of movement of the wheels 5f, 5r relative to the ground are The difference is close to a limit value within a range in which the wheels 5f and 5r do not spin. If the amount of rotation of the wheels 5f, 5r is suppressed near a limit value within a range in which the wheels 5f, 5r do not spin, the propulsive force that the wheels 5f, 5r can obtain from the ground increases. Thereby, the control device 120 can plunge the bucket 3 to a deep position of the target (a position deep inside the target).
- the control device 120 can store a large amount of objects inside the bucket 3 by lifting the bucket 3 and rotating it toward the cloud, thereby ensuring the maximum loading capacity of the bucket 3 in one excavation operation. can do. Therefore, the control device 120 can minimize the number of times excavation operations are performed during excavation work.
- step S106 the control device 120 determines whether the rotational speeds of the wheels 5f, 5r are equal to or less than the threshold value BE. If the rotational speeds of the wheels 5f, 5r are equal to or less than the threshold BE, the control device 120 moves to step S107. If the rotational speed of the wheels 5f, 5r exceeds the threshold BE, step S106 may be repeated, for example, every 0.1 second until the rotational speed of the wheels 5f, 5r becomes equal to or less than the threshold BE.
- the threshold value BE indicates the rotational speed of the wheels 5f, 5r at which the vehicle body 2 moves forward even if the bucket 3 enters an object and receives a reaction force.
- the threshold value BE may be a criterion for determining whether to end the wheel slip prevention process.
- the threshold value BE may be a value smaller than the threshold value BS by, for example, 3 km/h in terms of vehicle speed.
- the control device 120 can apply a predetermined brake pressure to the wheels 5f and 5r while the vehicle speed is reduced by 3 km/h.
- the control device 120 can indirectly change the time period during which a predetermined brake pressure is applied to the wheels 5f, 5r.
- the control device 120 uses the vehicle speed of the vehicle body 2 and a threshold value BE based on the vehicle speed instead of the rotational speed of the wheels 5f and 5r to determine whether or not to end the spin prevention process. Good too.
- step S107 the control device 120 ends the idling prevention process started in step S105.
- the drive of the brake 118 is stopped. That is, by performing steps S106 and S107, the control device 120 maintains the rotation speeds of the wheels 5f and 5r at or above the threshold value BE so that the vehicle body 2 moves forward even when the bucket 3 plunges into the object.
- the control device 120 rotates the bucket 3 toward the cloud to place the bucket 3 in a loaded state, and stops lifting when the bucket 3 reaches a predetermined height. After that, the control device 120 ends the process shown in FIG. 4.
- the control device 120 of the first embodiment is a control device for the wheel loader 1 that excavates a target object by moving the vehicle body 2 forward by rotating the wheels 5f and 5r and thrusting the bucket 3 into the target object. .
- the control device 120 of the first embodiment moves the vehicle body 2 forward with the bucket 3 plunged into the object, and when the rotational speed of the wheels 5f and 5r exceeds a predetermined threshold BS, the control device 120 moves the wheels 5f and 5r forward. to brake.
- the control device 120 of the first embodiment can obtain the propulsion force from the ground and move the vehicle body 2 forward without idling the wheels 5f, 5r.
- the control device 120 of the first embodiment can ensure the maximum loading capacity of the bucket 3 in one excavation operation by lifting the bucket 3 and rotating it toward the cloud. Therefore, the control device 120 of the first embodiment can minimize the number of times excavation operations are performed during excavation work. Therefore, the control device 120 of Embodiment 1 can shorten the working time required for excavation work and improve the productivity of excavation work.
- control device 120 of the first embodiment performs an automatic excavation process in which the wheel loader 1 automatically performs an excavation operation by controlling the traveling of the vehicle body 2 and the attitude of the bucket 3.
- the excavation operation performed by the automatic excavation process starts by lifting the bucket 3 that has entered the object while moving the vehicle body 2 forward, and after braking the wheels 5f and 5r, rotates the bucket 3 in the direction of the cloud. This is an operation in which the bucket 3 is placed in a loaded state, and when the bucket 3 reaches a predetermined height, lifting is stopped.
- the control device 120 of the first embodiment can cause the wheel loader 1 to perform an excavation operation without depending on the operator's operation, so that the time required for one excavation operation may be increased depending on the operator's skill. can be restrained from doing so.
- the control device 120 of the first embodiment can reliably secure the load capacity of the bucket 3 in one excavation operation. Therefore, the control device 120 of the first embodiment can shorten the time required for the entire excavation operation in the excavation work. Therefore, the control device 120 of the first embodiment can further reduce the working time required for excavation work and further improve the productivity of excavation work.
- control device 120 of Embodiment 1 includes a validity determination unit 123 that determines whether the automatic excavation process is valid, and a start determination unit 124 that determines whether or not the automatic excavation process is started.
- the validity determination unit 123 determines that the automatic excavation process is effective when the bucket 3 is in an excavation posture within a predetermined range and the vehicle body 2 is moving forward.
- the start determination unit 124 determines that the automatic excavation process is determined to be valid by the validity determination unit 123, the bucket 3 is in the digging position, and the pressure of the lift cylinder 12 that performs lifting has changed to exceed a predetermined pressure. If so, it is determined that automatic excavation processing is to be started.
- the control device 120 of the first embodiment can start the automatic excavation process after the bucket 3 reliably enters the target object, and can cause the wheel loader 1 to appropriately perform the excavation operation. That is, the control device 120 of the first embodiment can start the automatic excavation process before the bucket 3 plunges into the target object to prevent malfunctions such as the wheel loader 1 not being able to properly perform the excavation operation. can.
- the control device 120 of the first embodiment can prevent the time required for the excavation operation from increasing due to such malfunction. Therefore, the control device 120 of the first embodiment can reliably shorten the working time required for excavation work and reliably improve the productivity of excavation work.
- the control device 120 of the first embodiment performs an automatic excavation process before the start determination unit 124 determines whether to start the automatic excavation process.
- the wheel loader 1 is caused to perform a preparation operation for excavation processing.
- control device 120 of the first embodiment can shorten the response time of the lift cylinder 12 from when the start determination unit 124 determines to start the automatic excavation process until the lift cylinder 12 actually expands and contracts. Therefore, the control device 120 of the first embodiment can immediately start lifting the bucket 3 during automatic excavation processing, thereby reducing the time required for the excavation operation during the excavation operation. Therefore, the control device 120 of the first embodiment can further reduce the working time required for excavation work and further improve the productivity of excavation work.
- control device 120 of the first embodiment maintains the vehicle speed of the vehicle body 2 at a predetermined speed or higher and moves the vehicle body 2 forward before the bucket 3 rushes into the object.
- control device 120 of Embodiment 1 does not reduce the vehicle speed of the vehicle body 2 before the bucket 3 rushes into the target object, so it is possible to shorten the time required for the traveling operation in the excavation work. Therefore, the control device 120 of the first embodiment can further reduce the working time required for excavation work and further improve the productivity of excavation work.
- FIG. 5 A control device 120 for a wheel loader 1 according to a second embodiment will be described using FIG. 5.
- the control device 120 of the second embodiment descriptions of the same configuration and operation as those of the first embodiment will be omitted.
- FIG. 5 is a block diagram showing the functional configuration of the control device 120 of the second embodiment.
- the pressure of the lift cylinder 12 is used as one of the criteria for the start determination unit 124 to start the automatic excavation process.
- the control device 120 of the second embodiment may employ the relative distance between the bucket 3 and the object as one of the criteria for the start determination unit 124 to start the automatic excavation process.
- the wheel loader 1 of the second embodiment includes a GNSS receiver 22 that receives position information of the vehicle body 2, and a communication device 23 that acquires position information of a target object through communication with an external device. .
- the start determination unit 124 of the second embodiment performs processing different from that of the first embodiment in step S103 of FIG. That is, the start determination unit 124 of the second embodiment calculates the position information of the bucket 3 from the position information of the vehicle body 2, and calculates the relative distance between the bucket 3 and the object from the position information of the bucket 3 and the position information of the object. calculate.
- the start determination unit 124 of the second embodiment determines that the automatic excavation process is determined to be valid by the validity determination unit 123, that the bucket 3 is in the excavation posture, and that the relative distance between the bucket 3 and the target object is a predetermined distance. If the conditions are as follows, it is determined that automatic excavation processing is to be started.
- the predetermined distance may be, for example, 1 m. If the predetermined distance is 1 m, the threshold value BS is converted to a vehicle speed of 6 km/h, and the vehicle speed of the vehicle body 2 is 6 km/h or more, the bucket 3 will rush into the object in about 0.5 seconds or less, but automatic excavation The process is started and the idling prevention process is started. Assuming that the time from when the spin prevention process starts to when the braking force actually acts on the wheels 5f and 5r is approximately 0.5 seconds, the braking force acts on the wheels 5f and 5r when the bucket 3 is the object. This happens after entering the . Therefore, even in such a case, the influence on the excavation operation performed by the automatic excavation process is very small. Therefore, it is effective for the start determination unit 124 of the second embodiment to adopt the fact that the relative distance between the bucket 3 and the target object is less than or equal to a predetermined distance as one of the criteria for starting the automatic excavation process.
- control device 120 of the second embodiment can move the vehicle body 2 forward by obtaining propulsion force from the ground without causing the wheels 5f, 5r to idle. Therefore, the control device 120 of the second embodiment can shorten the working time required for excavation work and improve productivity of the excavation work.
- the wheel loader 1 of the second embodiment may include a terminal device capable of inputting the position information of the target object instead of the communication device 23 that acquires the position information of the target object through communication with an external device.
- the start determination unit 124 of the second embodiment may acquire the position information of the object from the terminal device.
- a control device 120 for a wheel loader 1 according to a third embodiment will be described using FIG. 6.
- the control device 120 of the third embodiment descriptions of the same configuration and operation as those of the first embodiment will be omitted.
- FIG. 6 is a block diagram showing the functional configuration of the control device 120 of the third embodiment.
- the control device 120 of the first embodiment employs driving the brake 118 to brake the wheels 5f, 5r as means for reducing the rotational speed of the wheels 5f, 5r in the slip prevention process.
- the control device 120 of the third embodiment employs not only braking of the wheels 5f and 5r but also reducing the output of the power source of the wheels 5f and 5r as means for reducing the rotational speed of the wheels 5f and 5r in the slip prevention process. You may. Reducing the output of the power source of the wheels 5f, 5r may be, for example, reducing the rotation speed of the engine 100.
- the control device 120 of the third embodiment further includes an engine command section 128, as shown in FIG.
- the engine command unit 128 calculates the amount of decrease (correction amount) in the rotational speed of the engine 100 based on the output from the automatic excavation processing unit 122 and generates a control command for the engine controller 104.
- the engine command unit 128 generates an electric signal 106s indicating the generated control command and outputs it to the engine controller 104.
- the control device 120 of the third embodiment performs processing different from that of the first embodiment in step S105 of FIG. That is, the control device 120 of the third embodiment not only outputs the electrical signal 118s indicating the control command related to the brake pressure to the brake pressure control solenoid valve 119a, but also outputs the control command to reduce the rotation speed of the engine 100.
- An electrical signal 106s is output to the engine controller 104.
- the control command to reduce the rotation speed of the engine 100 may be a control command that performs a correction such as reducing the rotation speed of the engine 100 by 300 rotations from normal, for example.
- control device 120 of the third embodiment brakes the wheels 5f, 5r and reduces the output of the power source of the wheels 5f, 5r when the rotational speed of the wheels 5f, 5r exceeds the threshold value BS. .
- the control device 120 of the third embodiment can suppress the rotational speed of the wheels 5f, 5r more efficiently in the wheel slip prevention process than the first embodiment, so that it is possible to further prevent the wheels 5f, 5r from spinning. can. Therefore, the control device 120 of the third embodiment can further reduce the working time required for the excavation work and further improve the productivity of the excavation work as compared to the first embodiment.
- a control device 120 for a wheel loader 1 according to a fourth embodiment will be described using FIG. 7.
- the control device 120 of the fourth embodiment descriptions of the same configuration and operation as those of the first embodiment will be omitted.
- FIG. 7 is a block diagram showing the functional configuration of the control device 120 of the fourth embodiment.
- the control device 120 of the fourth embodiment not only brakes the wheels 5f, 5r, but also interrupts the transmission of power from the power sources of the wheels 5f, 5r to the wheels 5f, 5r in the wheel slip prevention process. It may also be employed as a means for reducing the rotational speed.
- Cutting off the transmission of power from the power source of the wheels 5f, 5r to the wheels 5f, 5r means, for example, cutting off the transmission of power from the engine 100, which is the power source of the wheels 5f, 5r, to the wheels 5f, 5r. It may be. Specifically, cutting off the transmission of power from the power source of the wheels 5f, 5r to the wheels 5f, 5r means cutting off the connection between the output shaft of the torque converter 101 and the drive shaft 108 at the transmission 107. You can.
- the control device 120 of Embodiment 4 further includes a transmission command section 129, as shown in FIG.
- Transmission command unit 129 generates a control command to disconnect the output shaft of torque converter 101 and drive shaft 108 based on the output from automatic excavation processing unit 122 .
- Transmission command unit 129 generates an electrical signal 107s indicating the generated control command, and outputs it to transmission controller 109.
- the control device 120 of the fourth embodiment performs processing different from that of the first embodiment in step S105 of FIG. That is, the control device 120 of the fourth embodiment not only outputs the electric signal 118s indicating the control command related to the brake pressure to the brake pressure control solenoid valve 119a, but also outputs the electric signal 118s indicating the control command related to the brake pressure, and also outputs the electric signal 118s indicating the control command related to the brake pressure.
- An electrical signal 107s indicating a control command to cut off the connection is output to the transmission controller 109. This corresponds to shifting the transmission 107 to neutral, and the transmission of power from the engine 100 to the wheels 5f, 5r is cut off.
- control device 120 of the fourth embodiment brakes the wheels 5f, 5r when the rotational speed of the wheels 5f, 5r exceeds the threshold value BS, and also controls the wheels 5f, 5r from the power source of the wheels 5f, 5r. Cut off power transmission to.
- the control device 120 of the fourth embodiment can suppress the rotational speed of the wheels 5f, 5r more efficiently in the wheel slip prevention process than the first embodiment, so that it is possible to further prevent the wheels 5f, 5r from spinning. can. Therefore, the control device 120 of the fourth embodiment can further reduce the working time required for the excavation work and further improve the productivity of the excavation work, compared to the first embodiment.
- the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention as set forth in the claims. It can be carried out.
- the present invention does not include adding the configuration of one embodiment to the configuration of another embodiment, replacing the configuration of one embodiment with another embodiment, or deleting a part of the configuration of one embodiment. You can
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Abstract
Description
図1~図4を用いて、実施形態1に係るホイールローダ1の制御装置120について説明する。
図5を用いて、実施形態2に係るホイールローダ1の制御装置120について説明する。実施形態2の制御装置120において、実施形態1と同様の構成及び動作については、説明を省略する。
図6を用いて、実施形態3に係るホイールローダ1の制御装置120について説明する。実施形態3の制御装置120において、実施形態1と同様の構成及び動作については、説明を省略する。
図7を用いて、実施形態4に係るホイールローダ1の制御装置120について説明する。実施形態4の制御装置120において、実施形態1と同様の構成及び動作については、説明を省略する。
Claims (8)
- 車輪の回転により車体を前進させてバケットを対象物に突入させることで前記対象物を掘削するホイールローダの制御装置であって、
前記制御装置は、
前記バケットを前記対象物に突入させた状態で前記車体を前進させ、前記車輪の回転速度が予め定められた閾値を上回る場合には、前記車輪を制動させる
ことを特徴とするホイールローダの制御装置。 - 前記制御装置は、前記車体の走行及び前記バケットの姿勢を制御して前記ホイールローダの掘削動作を自動で行わせる自動掘削処理を行い、
前記自動掘削処理によって行われる前記掘削動作は、前記車体を前進させながら前記対象物に突入した前記バケットのリフト上げを開始し、前記車輪を制動させた後、前記バケットをクラウド方向に回動させて前記バケットを積載状態とし、前記バケットが所定高さに到達すると前記リフト上げを停止する動作である
ことを特徴とする請求項1に記載のホイールローダの制御装置。 - 前記制御装置は、前記自動掘削処理が有効であるか否かを判定する有効判定部と、前記自動掘削処理を開始するか否かを判定する開始判定部と、を有し、
前記有効判定部は、前記バケットが所定範囲に収まる掘削姿勢であり、且つ、前記車体が前進している場合、前記自動掘削処理が有効であると判定し、
前記開始判定部は、前記有効判定部により前記自動掘削処理が有効であると判定され、前記バケットが前記掘削姿勢であり、且つ、前記リフト上げを行うリフトシリンダの圧力が所定圧力を上回るように変化した場合、前記自動掘削処理を開始すると判定する
ことを特徴とする請求項2に記載のホイールローダの制御装置。 - 前記制御装置は、前記自動掘削処理が有効であるか否かを判定する有効判定部と、前記自動掘削処理を開始するか否かを判定する開始判定部と、を有し、
前記有効判定部は、前記バケットが所定範囲に収まる掘削姿勢であり、且つ、前記車体が前進している場合、前記自動掘削処理が有効であると判定し、
前記開始判定部は、前記有効判定部により前記自動掘削処理が有効であると判定され、前記バケットが前記掘削姿勢であり、且つ、前記バケットと前記対象物との相対距離が所定距離以下である場合、前記自動掘削処理を開始すると判定する
ことを特徴とする請求項2に記載のホイールローダの制御装置。 - 前記制御装置は、前記有効判定部により前記自動掘削処理が有効であると判定された場合、前記開始判定部が前記自動掘削処理を開始するか否かを判定する前に、前記自動掘削処理の準備動作を前記ホイールローダに行わせる
ことを特徴とする請求項3又は4に記載のホイールローダの制御装置。 - 前記制御装置は、前記バケットが前記対象物に突入する前、前記車体の車速を所定速度以上に保って前記車体を前進させる
ことを特徴とする請求項1に記載のホイールローダの制御装置。 - 前記制御装置は、前記車輪の前記回転速度が前記閾値を上回る場合には、前記車輪を制動させると共に、前記車輪の動力源の出力を低下させる
ことを特徴とする請求項1に記載のホイールローダの制御装置。 - 前記制御装置は、前記車輪の前記回転速度が前記閾値を上回る場合には、前記車輪を制動させると共に、前記車輪の動力源から前記車輪への動力の伝達を遮断する
ことを特徴とする請求項1に記載のホイールローダの制御装置。
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JP2020051131A (ja) * | 2018-09-27 | 2020-04-02 | 日立建機株式会社 | ホイールローダ |
US20200277750A1 (en) * | 2019-02-28 | 2020-09-03 | Doosan Infracore Co., Ltd. | Method and system for controlling wheel loader |
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JPWO2023182320A1 (ja) | 2023-09-28 |
CN117916433A (zh) | 2024-04-19 |
KR20240033697A (ko) | 2024-03-12 |
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