WO2023276529A1 - 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
- WO2023276529A1 WO2023276529A1 PCT/JP2022/022150 JP2022022150W WO2023276529A1 WO 2023276529 A1 WO2023276529 A1 WO 2023276529A1 JP 2022022150 W JP2022022150 W JP 2022022150W WO 2023276529 A1 WO2023276529 A1 WO 2023276529A1
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- WIPO (PCT)
- Prior art keywords
- blade
- vehicle body
- slip
- controller
- lift
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 17
- 239000011295 pitch Substances 0.000 claims description 67
- 230000033001 locomotion Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001419 dependent effect Effects 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
- 238000012876 topography Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
- 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
- E02F3/7622—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
-
- 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 the working machine.
- Some work machines are equipped with blades that perform work such as excavation.
- the work machine disclosed in Patent Literature 1 performs excavation work by causing a controller to move a blade according to a design surface. Also, the controller determines whether a slip occurs in the traveling device of the work machine. The controller raises the design plane when it determines that a slip has occurred. The controller raises the blade according to the design aspect. As a result, the work machine escapes from slipping by reducing the load on the blade.
- An object of the present invention is to suppress the occurrence of slips in a working machine and to suppress the deterioration of working efficiency.
- a work machine includes a vehicle body, blades, a pitch actuator, and a controller.
- the vehicle body includes a traveling device.
- the blade is rotatably supported about the pitch axis with respect to the vehicle body.
- the pitch actuator pitches the blade about the pitch axis.
- the controller determines whether slip has occurred in the running gear during work with the blade.
- the controller pitches the blade in the backward tilting direction when it is determined that the slip has occurred.
- a method according to another aspect of the present invention is a method for controlling a working machine.
- a work machine includes a vehicle body, a blade, and a pitch actuator.
- the vehicle body includes a traveling device.
- the blade is rotatably supported about the pitch axis with respect to the vehicle body.
- the pitch actuator pitches the blade about the pitch axis.
- the method according to this aspect comprises determining whether a slip has occurred in the traveling device during work with the blade, and pitching the blade in a backward tilting direction when it is determined that the slip has occurred. .
- the blade pitches backward.
- the work machine can escape from the slip by reducing the resistance to the blade.
- the pitch motion instead of by the lift motion of the blade, the rise of the blade is suppressed. As a result, a decrease in work efficiency can be suppressed.
- 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 lift operation of the blade;
- FIG. 10 is a diagram showing the pitch motion of the blade;
- 4 is a flowchart showing automatic control of the work machine according to the first embodiment; It is a figure which shows an example of a current landform and a target landform. 4 is a flowchart showing control processing for suppressing the occurrence of slip.
- FIG. 11 shows the pitch motion of the blade when slipping occurs;
- FIG. 11 illustrates the lift action of the blade when it is not out of slip after a pitch action;
- 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 lift frame 17 may be attached to the travel device 15 .
- the lift frame 17 may be arranged inside the travel device 15 or may be arranged outside the travel device 15 .
- 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 . Note that the lift actuator 19 may be attached to 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.
- FIG. 3 is a schematic diagram showing the lift operation of the work machine 1.
- P0 indicates the current position of the cutting edge of the blade 18.
- P1 indicates the highest position of the cutting edge of the blade 18 .
- P2 indicates the lowest position of the cutting edge of the blade 18 .
- the work machine 1 can lift the blade 18 between the highest position P1 and the lowest position P2.
- 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.
- FIGS. 4A to 4C are diagrams showing the pitch angles of the blades 18.
- the pitch angle ⁇ 0- ⁇ 2 of the blade 18 is the angle between the cutting edge of the blade 18 and the ground plane G1 of the crawler belt 16.
- FIGS. 4B shows the pitch angle ⁇ 0 of the blade 18 in the standard state (hereinafter referred to as "standard pitch angle").
- FIG. 4A shows the pitch angle ⁇ 1 of the blade 18 tilted forward from the standard state.
- FIG. 4C shows the pitch angle ⁇ 2 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> ⁇ 0> ⁇ 2.
- 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 input device 32 to set the pitch angle control mode of the blade 18 by the controller 26 .
- Control modes include manual mode and automatic control. In manual mode, the operator can manually change the pitch angle of the blade 18 using the operating device 31 . Automatic pitch angle control will be described in detail later.
- the control system 3 includes a sensor 33 that detects the current position of the cutting edge of the blade 18 (hereinafter referred to as "cutting edge position P0").
- Sensors 33 include vehicle body sensor 34 , frame sensor 35 , blade sensor 36 and position sensor 37 .
- 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 .
- a position sensor 37 detects the current position of the vehicle body 11 .
- 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 position sensor 37 is, for example, a GNSS (Global Navigation Satellite System) position sensor such as a GPS (Global Positioning System).
- the position sensor 37 comprises, for example, a GNSS receiver and an antenna.
- the position sensor 37 detects the current position of the position sensor 37 .
- the position sensor 37 is arranged on the vehicle body 11 . Accordingly, the position sensor 37 detects the current position of the vehicle body 11 .
- the current position of the vehicle body 11 is indicated by global coordinates with the earth as a reference. However, the current position of the vehicle body 11 may be indicated by local coordinates based on the work site where the work machine 1 works.
- the controller 26 acquires a detection signal indicating the current position of the vehicle body 11 from the position sensor 37 .
- the controller 26 receives detection signals from the vehicle body sensor 34, the frame sensor 35, the blade sensor 36, and the position sensor 37.
- the controller 26 stores machine dimension data indicating dimensions and positional relationships among the vehicle body 11 , the lift frame 17 and the blades 18 .
- the controller 26 determines the cutting edge position of the blade 18 based on the angle detected by the vehicle body sensor 34, the frame sensor 35, and the blade sensor 36, the current position of the vehicle body 11 detected by the position sensor 37, and the machine dimension data. Calculate P0.
- the work machine 1 includes a speed sensor 38.
- a speed sensor 38 detects the operating speed of the travel device 15 .
- a speed sensor 38 outputs a detection signal indicating the operating speed of the travel device 15 .
- the controller 26 acquires a detection signal indicating the operating speed of the travel device 15 from the speed sensor 38 .
- speed sensor 38 detects the rotational speed of the output shaft of power transmission device 24 .
- Controller 26 calculates the operating speed of crawler belt 16 from the rotational speed of the output shaft of power transmission device 24 .
- speed sensor 38 may detect the rotational speed of other rotating elements of power transmission device 24 .
- speed sensor 38 may detect the rotational speed of a rotating element of traveling device 15, such as a sprocket.
- the speed sensor 38 may detect engine speed.
- FIG. 5 is a flow chart showing processing of automatic control.
- step S101 the controller 26 acquires the current position of the work machine 1.
- the controller 26 acquires the cutting edge position P ⁇ b>0 of the blade 18 described above as the current position of the working machine 1 .
- the controller 26 acquires current terrain data.
- the current terrain data indicates the current terrain 50 to be worked on.
- FIG. 6 is a diagram showing an example of the current terrain 50.
- the current terrain data includes coordinates and altitudes of a plurality of points on the current terrain 50 located in the traveling direction of the work machine 1 .
- the controller 26 may acquire current terrain data from an external computer. Controller 26 may obtain updated current terrain data from the trajectory of the bottom surface of track 16 .
- the controller 26 acquires target terrain data.
- the target terrain data indicates target terrain 60 relative to current terrain 50 .
- the target terrain data includes coordinates and altitudes of a plurality of points on the target terrain 60 located in the traveling direction of the work machine 1 . As shown in FIG. 6, at least a portion of the target terrain 60 is vertically displaced with respect to the current terrain 50 . At least part of the target terrain 60 is located below the current terrain 50 .
- the controller 26 may determine the target terrain 60 based on the current terrain 50. For example, controller 26 may determine target terrain 60 by displacing current terrain 50 downward. Controller 26 may determine as target terrain 60 a trajectory extending at a predetermined angle from a predetermined starting position of the operation. Controller 26 may determine target terrain 60 based on blade 18 capacity or load. Controller 26 may determine target terrain 60 based on the volume of soil held by blade 18 . Alternatively, the controller 26 may acquire target terrain data from an external computer.
- step S104 the controller 26 controls the work implement 12 according to the target terrain 60.
- Controller 26 controls lift actuator 19 such that the cutting edge of blade 18 moves according to target terrain 60 .
- the blade 18 lifts up and down so that the cutting edge of the blade 18 moves along the target topography 60 .
- the existing terrain 50 is thereby excavated by the blade 18 .
- the forward movement of the work machine 1 may be manually performed by an operator operating the operating device 31 . Alternatively, forward movement of the work machine 1 may be automatically controlled by the controller 26 .
- the controller 26 monitors occurrence of slip of the travel device 15 while executing automatic control of the height of the blade 18 according to the target terrain 60 .
- the controller 26 automatically controls the pitch angle of the blades 18 to suppress slip when slip occurs.
- FIG. 7 is a flowchart showing control processing for suppressing slip.
- the controller 26 makes a first slip determination.
- the first slip determination the controller 26 determines that the crawler belt 16 is slipping when the first slip condition is satisfied.
- the first slip condition is that the slip ratio is less than the first threshold.
- the slip ratio is the ratio of the actual vehicle speed to the theoretical vehicle speed of the vehicle body 11 .
- the controller 26 calculates the theoretical vehicle speed of the vehicle body 11 based on the operating speed of the travel device 15 .
- Controller 26 calculates the actual vehicle speed of vehicle body 11 based on the position of vehicle body 11 . That is, the first slip condition is represented by the following formula (1).
- Rs Va/Vt ⁇ Th1
- Va is the actual vehicle speed.
- Vt is the theoretical vehicle speed.
- Th1 is the first threshold.
- the first slip condition may include that the theoretical vehicle speed has not increased.
- step S202 the controller 26 pitches the blade 18 in the backward tilting direction, as shown in FIG.
- controller 26 may decrease the pitch angle of blades 18 by a predetermined angle.
- the predetermined angle may be a constant value.
- the predetermined angle may be an angle dependent on parameters such as the slip ratio or the load to which the blade 18 is subjected.
- step S203 the controller 26 determines whether the travel device 15 has escaped from slip.
- the controller 26 determines that the traveling device 15 has escaped from the slip when the first slip escape condition is satisfied.
- the first slip escape condition is that the slip ratio is equal to or greater than the first threshold.
- the controller 26 determines that the traveling device 15 has escaped from the slip when the first slip escape condition is satisfied.
- step S203 determines in step S203 that the traveling device 15 has escaped from the slip
- the controller 26 returns the pitch angle to the standard state in step S208, and then controls the blade 18 according to the target terrain 60 described above. continue.
- step S203 determines in step S203 that the travel device 15 has not escaped from the slip
- the process proceeds to step S204.
- step S204 the controller 26 makes a second slip determination.
- the controller 26 determines whether the traveling device 15 is slipping when the second slip condition is satisfied.
- a second slip condition is that the theoretical vehicle speed is greater than the second threshold.
- step S205 the controller 26 raises the target landform 60 as shown in FIG. Controller 26 thereby raises blade 18 .
- the controller 26 may raise the blade 18 while continuing the pitch motion of the blade 18 .
- step S206 the controller 26 determines whether the traveling device 15 has escaped from slip.
- the controller 26 determines that the traveling device 15 has escaped from the slip when the second slip escape condition is satisfied.
- the second slip escape condition is that the theoretical vehicle speed is equal to or less than the second threshold.
- step S206 When the controller 26 determines in step S206 that the travel device 15 has escaped from the slip, the process proceeds to step S207.
- step S207 the controller 26 resets the target landform 60.
- FIG. The controller 26 resets the target landform 60' as a new target landform 60 when it is determined that the traveling device 15 has escaped from the slip.
- the controller 26 then continues to control the blades 18 according to the reset target terrain 60 .
- step S208 the controller 26 returns the pitch angle to the standard state.
- the blade 18 pitches in the backward tilting direction when it is determined that a slip has occurred. As a result, excavation resistance to the blade 18 is reduced, so that the travel device 15 can escape from the slip. In addition, since the travel device 15 is released from the slip by the pitch motion without the lift motion of the blade 18, the rise of the blade 18 is suppressed. As a result, a decrease in work efficiency can be suppressed.
- 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. Some of the multiple controllers may be arranged outside the work machine 1 . That is, work machine 1 may be remotely controllable.
- the processing by the controller 26 is not limited to the above embodiment, and may be modified. A part of the automatic control process 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 position sensor 37 may be arranged not only on the vehicle body 11 but also on other parts of the working machine 1 .
- position sensor 37 may be located on blade 18 .
- the control process for suppressing slip is not limited to the process described above, and may be changed.
- the processing for determining whether a slip has occurred and the processing for determining whether the vehicle has escaped from the slip are not limited to the above-described processing, and may be changed.
- Controller 26 may directly raise blade 18 without raising target terrain 60 when it determines that a slip is occurring.
- the theoretical vehicle speed may be calculated from changes in the position of the vehicle body 11 acquired by the position sensor 37 per hour. Alternatively, the theoretical vehicle speed may be calculated from the integrated value of acceleration of the vehicle body 11 acquired by the vehicle body sensor 34 . Alternatively, the theoretical vehicle speed may be calculated from changes per hour in the position of an external object acquired from the vehicle body 11 by positioning means such as radar.
- Vehicle body 17 Lift frame 18 Blade 19 Lift actuator 20 Pitch actuator 26 Controller 37 Position sensor 38 Speed sensor 50 Present terrain 60 Target terrain
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
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Abstract
Description
Rs=Va/Vt<Th1
Rsはスリップ率である。Vaは実車速である。Vtは理論車速である。Th1は第1閾値である。
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
37 位置センサ
38 速度センサ
50 現況地形
60 目標地形
Claims (8)
- 走行装置を含む車体と、
前記車体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、
前記ブレードによる作業中に前記走行装置においてスリップが発生しているかを判定し、前記スリップが発生していると判定したときには前記ブレードを後傾方向にピッチ動作させるコントローラと、
を備える作業機械。 - 前記コントローラは、
前記走行装置がスリップから脱出したかを判定し、
前記走行装置がスリップから脱出していないと判定したときには、前記ブレードを上昇させる、
請求項1に記載の作業機械。 - 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、
を備え、
前記ブレードは、前記リフトフレームを介して前記車体に支持されており、
前記コントローラは、
作業対象である現況地形を示す現況地形データを取得し、
少なくとも一部が前記現況地形の下方に位置する目標地形を示す目標地形データを取得し、
前記ブレードの刃先が前記目標地形に従って移動するように前記リフトアクチュエータを制御することで、前記作業を行う、
請求項1に記載の作業機械。 - 前記車体の位置を検出する位置センサと、
前記走行装置の動作速度を検出する速度センサと、
をさらに備え、
前記コントローラは、
前記車体の位置に基づいて、前記作業機械の実車速を算出し、
前記走行装置の動作速度に基づいて、前記作業機械の理論車速を算出し、
前記実車速と前記理論車速とに基づいて、前記走行装置においてスリップが発生しているかを判定する、
請求項1に記載の作業機械。 - 走行装置を含む車体と、前記車体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、
前記ブレードによる作業中に前記走行装置においてスリップが発生しているかを判定することと、
前記スリップが発生していると判定したときには前記ブレードを後傾方向にピッチ動作させること、
を備える方法。 - 前記走行装置がスリップから脱出したかを判定することと、
前記走行装置がスリップから脱出していないと判定したときには、前記ブレードを上昇させること、
をさらに備える請求項5に記載の方法。 - 前記作業機械は、
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、
を備え、
前記ブレードは、前記リフトフレームを介して前記車体に支持されており、
作業対象である現況地形を示す現況地形データを取得することと、
少なくとも一部が前記現況地形の下方に位置する目標地形を示す目標地形データを取得することと、
前記ブレードの刃先が前記目標地形に従って移動するように前記リフトアクチュエータを制御することで、前記作業を行うこと、
をさらに備える請求項5に記載の方法。 - 前記車体の位置を取得することと、
前記走行装置の動作速度を取得することと、
前記車体の位置に基づいて、前記作業機械の実車速を算出することと、
前記走行装置の動作速度に基づいて、前記作業機械の理論車速を算出することと、
前記実車速と前記理論車速とに基づいて、前記走行装置においてスリップが発生しているかを判定すること、
をさらに備える請求項5に記載の方法。
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS553503B2 (ja) * | 1975-11-25 | 1980-01-25 | ||
JPS58123932A (ja) * | 1982-01-18 | 1983-07-23 | Caterpillar Mitsubishi Ltd | 土工車輌のスリツプ自動補正装置 |
JPS63210315A (ja) * | 1987-02-27 | 1988-09-01 | Komatsu Ltd | ブルド−ザのブレ−ド制御装置 |
JP2018197425A (ja) * | 2017-05-23 | 2018-12-13 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
CN111622293A (zh) * | 2019-02-28 | 2020-09-04 | 斗山英维高株式会社 | 轮式装载机的控制方法及系统 |
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2021
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- 2022-05-31 AU AU2022305165A patent/AU2022305165A1/en active Pending
- 2022-05-31 WO PCT/JP2022/022150 patent/WO2023276529A1/ja active Application Filing
- 2022-05-31 US US18/554,702 patent/US20240044104A1/en active Pending
- 2022-05-31 CA CA3217331A patent/CA3217331A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS553503B2 (ja) * | 1975-11-25 | 1980-01-25 | ||
JPS58123932A (ja) * | 1982-01-18 | 1983-07-23 | Caterpillar Mitsubishi Ltd | 土工車輌のスリツプ自動補正装置 |
JPS63210315A (ja) * | 1987-02-27 | 1988-09-01 | Komatsu Ltd | ブルド−ザのブレ−ド制御装置 |
JP2018197425A (ja) * | 2017-05-23 | 2018-12-13 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
CN111622293A (zh) * | 2019-02-28 | 2020-09-04 | 斗山英维高株式会社 | 轮式装载机的控制方法及系统 |
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