WO2024043074A1 - Engin de chantier, système comprenant un engin de chantier et procédé de commande d'un engin de chantier - Google Patents

Engin de chantier, système comprenant un engin de chantier et procédé de commande d'un engin de chantier Download PDF

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Publication number
WO2024043074A1
WO2024043074A1 PCT/JP2023/028886 JP2023028886W WO2024043074A1 WO 2024043074 A1 WO2024043074 A1 WO 2024043074A1 JP 2023028886 W JP2023028886 W JP 2023028886W WO 2024043074 A1 WO2024043074 A1 WO 2024043074A1
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WIPO (PCT)
Prior art keywords
bucket
work machine
target
work
loading
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PCT/JP2023/028886
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English (en)
Japanese (ja)
Inventor
高史 松山
Original Assignee
株式会社小松製作所
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Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Publication of WO2024043074A1 publication Critical patent/WO2024043074A1/fr

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    • 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

Definitions

  • the present disclosure relates to a work machine, a system including the work machine, and a method of controlling the work machine.
  • Patent Document 1 discloses that when the wheel loader is in a load forward state in which the bucket is loaded with a load and the wheel loader is moving forward, the distance is calculated according to the moving distance of the wheel loader. A control for moving a boom and bucket to a target location is disclosed.
  • Wheel loaders that repeatedly perform excavation work and loading work are required to shorten the work cycle time and improve work efficiency.
  • the present disclosure proposes a work machine, a system including the work machine, and a method for controlling the work machine that can shorten work cycle time.
  • Each of a work machine and a system including a work machine includes a main body of the work machine having a running body, a work machine attached to the front of the main body of the work machine and having a bucket at a tip, and a work machine including a work machine.
  • a work equipment actuator that drives the work equipment relative to the main body of the machine, a travel sensor that detects the progress state of the traveling object, a work equipment posture sensor that detects the attitude of the work equipment, and detects objects around the main body of the work machine. and a controller that instructs the drive of the work implement actuator based on the detected values of the traveling sensor, the work implement attitude sensor, and the object sensor.
  • the controller recognizes a loading target for loading the load in the bucket based on the detection of the object.
  • the controller starts traveling when the feature point of the bucket reaches a first target position that is in front of the loading target and higher than the loading target. Start driving the work equipment actuator to move the bucket in the dumping direction while continuing to move forward.
  • a method for controlling a working machine includes recognizing a loading target for loading a load in a bucket from an object detection signal, and moving a traveling body forward to approach the loading target. and a work equipment actuator that moves the bucket in the dumping direction while continuing the forward movement of the traveling body when the feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target. and start driving.
  • the work cycle time can be shortened.
  • FIG. 1 is a side view of a wheel loader as an example of a working machine.
  • FIG. 1 is a block diagram showing a schematic configuration of a control system for a wheel loader.
  • FIG. 2 is a plan view of a wheel loader that performs excavation and loading work.
  • FIG. 1 is a block diagram showing the configuration of an automatic control system for a wheel loader. It is a flowchart which shows the flow of the operation
  • FIG. 3 is a diagram schematically showing the arrangement of a vessel and a wheel loader at the start of a dump approach.
  • FIG. 3 is a diagram schematically showing the attitude of the wheel loader when starting a bucket dumping operation.
  • FIG. 1 is a side view of a wheel loader as an example of a working machine.
  • FIG. 1 is a block diagram showing a schematic configuration of a control system for a wheel loader.
  • FIG. 2 is a plan
  • FIG. 3 is a diagram schematically showing the attitude of the wheel loader when the cutting edge reaches the innermost position.
  • FIG. 3 is a diagram schematically showing the attitude of the wheel loader when stopping the dumping operation of the bucket. It is a figure which shows typically the attitude
  • FIG. 1 is a side view of a wheel loader 1 as an example of a working machine.
  • the wheel loader 1 includes a vehicle body frame 2, a working machine 3, a traveling device 4, and a cab 5.
  • the vehicle body of the wheel loader 1 is composed of a vehicle body frame 2, a cab 5, and the like.
  • a working machine 3 and a traveling device 4 are attached to the vehicle body of the wheel loader 1.
  • the main body of the wheel loader 1 includes a vehicle body and a traveling device 4.
  • the traveling device 4 causes the vehicle body of the wheel loader 1 to travel, and includes running wheels 4a and 4b.
  • the wheel loader 1 is a wheeled vehicle equipped with running wheels 4a and 4b as rotating bodies for running on both sides of the vehicle body in the left-right direction.
  • the wheel loader 1 can be self-propelled by rotationally driving running wheels 4a and 4b, and can perform desired work using the working machine 3.
  • the traveling device 4 corresponds to an example of a "traveling body.”
  • the direction in which the wheel loader 1 travels straight is referred to as the front-rear direction of the wheel loader 1.
  • the front direction the side on which the working machine 3 is arranged with respect to the vehicle body frame 2
  • the side opposite to the front direction is defined as the rear direction.
  • the left-right direction of the wheel loader 1 is a direction perpendicular to the front-rear direction when the wheel loader 1 on a flat ground is viewed from above. Looking forward, the right and left sides in the left and right direction are the right direction and left direction, respectively.
  • the vertical direction of the wheel loader 1 is a direction perpendicular to a plane defined by the front-rear direction and the left-right direction. In the vertical direction, the side with the ground is the bottom, and the side with the sky is the top.
  • the vehicle body frame 2 includes a front frame 2a and a rear frame 2b.
  • the front frame 2a is arranged in front of the rear frame 2b.
  • the front frame 2a and the rear frame 2b are attached to each other so as to be swingable in the left-right direction.
  • a pair of steering cylinders 11 are attached across the front frame 2a and the rear frame 2b.
  • Steering cylinder 11 is a hydraulic cylinder.
  • the direction of movement of the wheel loader 1 is changed from side to side by the steering cylinder 11 being expanded and contracted by the hydraulic oil from the steering pump.
  • the front frame 2a and the rear frame 2b constitute a vehicle body frame 2 having an articulated structure.
  • the wheel loader 1 is an articulated working machine in which a front frame 2a and a rear frame 2b are connected for bending movement.
  • a working machine 3 and a pair of running wheels (front wheels) 4a are attached to the front frame 2a.
  • the work machine 3 is attached to the front of the main body of the wheel loader 1.
  • the work machine 3 is supported by the vehicle body of the wheel loader 1.
  • the work machine 3 includes a boom 14 and a bucket 6.
  • the bucket 6 is arranged at the tip of the working machine 3.
  • the bucket 6 is a working tool for digging and loading.
  • the cutting edge 6a is the tip of the bucket 6.
  • the back surface 6b is part of the outer surface of the bucket 6.
  • the back surface 6b is formed of a flat surface.
  • the back surface 6b extends rearward from the cutting edge 6a.
  • the base end of the boom 14 is rotatably attached to the front frame 2a by a boom pin 9.
  • the bucket 6 is rotatably attached to the boom 14 by a bucket pin 17 located at the tip of the boom 14.
  • the boom pin 9 and the bucket pin 17 correspond to "a plurality of joints" of the working machine 3.
  • the work machine 3 further includes a bell crank 18 and a link 15.
  • the bell crank 18 is rotatably supported by the boom 14 by a support pin 18a located approximately at the center of the boom 14.
  • the link 15 is connected to a connecting pin 18c provided at the tip of the bell crank 18.
  • Link 15 connects bell crank 18 and bucket 6.
  • Boom cylinder 16 is a hydraulic cylinder.
  • the boom cylinder 16 rotates the boom 14 up and down about the boom pin 9 .
  • a base end of the boom cylinder 16 is attached to the front frame 2a.
  • the tip of the boom cylinder 16 is attached to the boom 14.
  • the boom cylinder 16 is a hydraulic actuator that moves the boom 14 up and down with respect to the front frame 2a. As the boom 14 moves up and down, the bucket 6 attached to the tip of the boom 14 also moves up and down.
  • the bucket cylinder 19 connects the bell crank 18 and the front frame 2a.
  • the base end of the bucket cylinder 19 is attached to the front frame 2a.
  • the tip of the bucket cylinder 19 is attached to a connecting pin 18b provided at the base end of the bell crank 18.
  • the bucket cylinder 19 is a hydraulic actuator that rotates the bucket 6 up and down with respect to the boom 14.
  • Bucket cylinder 19 is a work tool cylinder that drives bucket 6 .
  • Bucket cylinder 19 rotates bucket 6 around bucket pin 17 .
  • Bucket 6 is configured to be movable relative to boom 14 .
  • the bucket 6 is configured to be movable relative to the front frame 2a.
  • the boom cylinder 16 and the bucket cylinder 19 correspond to an example of a "work machine actuator" that drives the work machine 3.
  • a cab 5 on which an operator rides and a pair of running wheels (rear wheels) 4b are attached to the rear frame 2b.
  • a box-shaped cab 5 is arranged behind the boom 14.
  • the cab 5 is placed on the vehicle body frame 2. Inside the cab 5, a seat on which an operator of the wheel loader 1 sits, an operating device 8, which will be described later, and the like are arranged.
  • FIG. 2 is a block diagram showing a schematic configuration of a control system that controls the wheel loader 1. As shown in FIG.
  • the engine 21 is a drive source that generates driving force for driving the working machine 3 and the traveling device 4, and is, for example, a diesel engine.
  • a motor driven by an electrical storage body may be used instead of the engine 21, or both the engine and the motor may be used.
  • the output of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinders of the engine 21.
  • the driving force generated by the engine 21 is transmitted to the transmission 23.
  • the transmission 23 changes the driving force to appropriate torque and rotational speed.
  • An axle 25 is connected to the output shaft of the transmission 23.
  • the driving force shifted by the transmission 23 is transmitted to the axle 25.
  • Driving force is transmitted from the axle 25 to the running wheels 4a, 4b (FIG. 1).
  • the wheel loader 1 travels.
  • both the running wheels 4a and 4b constitute driving wheels that receive driving force and cause the wheel loader 1 to travel.
  • the work machine pump 13 is a hydraulic pump that is driven by the engine 21 and operates the work machine 3 with the hydraulic fluid it discharges.
  • the work machine 3 is driven by hydraulic oil from a work machine pump 13.
  • Hydraulic oil discharged from the work equipment pump 13 is supplied to the boom cylinder 16 and the bucket cylinder 19 via the main valve 32.
  • the boom 14 moves up and down as the boom cylinder 16 expands and contracts in response to the supply of hydraulic oil.
  • the bucket cylinder 19 is supplied with hydraulic oil and expands and contracts, the bucket 6 rotates up and down.
  • the wheel loader 1 includes a vehicle body controller 50.
  • Vehicle controller 50 includes an engine controller 60, a transmission controller 70, and a work equipment controller 80.
  • the vehicle body controller 50 is generally realized by reading various programs using a CPU (Central Processing Unit).
  • the vehicle body controller 50 has a memory (not shown).
  • the memory functions as a work memory and stores various programs for realizing the functions of the wheel loader 1.
  • the operating device 8 is provided in the cab 5.
  • the operating device 8 is operated by an operator.
  • the operating device 8 includes a plurality of types of operating members that are operated by an operator to operate the wheel loader 1.
  • the operating device 8 includes an accelerator pedal 41 and a work implement operating lever 42.
  • the operating device 8 may include a steering handle, a shift lever, etc. (not shown).
  • the accelerator pedal 41 is operated to set the target rotation speed of the engine 21.
  • Engine controller 60 controls the output of engine 21 based on the amount of operation of accelerator pedal 41 .
  • the operation amount (depression amount) of the accelerator pedal 41 is increased, the output of the engine 21 is increased.
  • the amount of operation of the accelerator pedal 41 is decreased, the output of the engine 21 is decreased.
  • Transmission controller 70 controls transmission 23 based on the amount of operation of accelerator pedal 41 .
  • the work equipment operating lever 42 is operated to operate the work equipment 3.
  • the work machine controller 80 controls the electromagnetic proportional control valves 35 and 36 based on the amount of operation of the work machine operating lever 42.
  • the electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 is retracted and the bucket 6 moves in the dumping direction (the direction in which the cutting edge of the bucket 6 is lowered). Further, the electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 is extended and the bucket 6 is moved in the tilt direction (the direction in which the cutting edge of the bucket 6 is raised).
  • the electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 is retracted and the boom 14 is lowered. Further, the electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 is extended and the boom 14 is raised.
  • the machine monitor 51 receives command signals from the vehicle controller 50 and displays various information.
  • the various information displayed on the machine monitor 51 includes, for example, information regarding the work performed by the wheel loader 1, vehicle body information such as remaining fuel level, cooling water temperature, and hydraulic oil temperature, and surrounding images of the surroundings of the wheel loader 1. etc.
  • the machine monitor 51 may be a touch panel, and in this case, a signal generated when the operator touches a part of the machine monitor 51 is output from the machine monitor 51 to the vehicle controller 50.
  • the wheel loader 1 of this embodiment performs an excavation and loading operation in which an excavated object such as earth and sand is scooped up and the excavated object is loaded onto a loading object such as a dump truck.
  • FIG. 3 is a plan view of the wheel loader 1 that performs excavation and loading work.
  • FIG. 3 shows a wheel loader 1 that performs a so-called V-shape operation.
  • FIG. 3(A) shows a wheel loader 1 that moves forward with a so-called empty load.
  • the wheel loader 1 travels forward along an excavation route R1 toward an excavation target 310 such as earth and sand.
  • the wheel loader 1 thrusts the bucket 6 into the excavated object 310 and stops moving forward.
  • an excavation operation in which the excavated object 310 is scooped into the bucket 6 is executed.
  • FIG. 3(B) shows a wheel loader 1 that performs so-called backward movement with a loaded load.
  • An excavated object 310 is loaded into the bucket 6 .
  • the wheel loader 1 travels backward along the excavation route R1 to the position where forward travel is started in FIG. 3(A).
  • FIG. 3(C) shows a wheel loader 1 that advances a load.
  • the wheel loader 1 moves forward toward the vessel 301 of the dump truck 300.
  • the wheel loader 1 moves forward from the position where it starts moving forward in FIG. 3(A) toward the dump truck 300 along the loading route R2.
  • the wheel loader 1 loads the excavated object 310 in the bucket 6 into the vessel 301.
  • the vessel 301 corresponds to an example of a "loading target" for loading the cargo in the bucket 6.
  • FIG. 3(D) shows a wheel loader 1 that moves backward with no load.
  • the wheel loader 1 loads the object to the position where it starts moving forward in FIG. 3(C). Travel backwards along route R2.
  • the wheel loader 1 can repeatedly perform a series of operations such as excavation, retreat, dump approach, earth removal, and retreat.
  • FIG. 4 is a block diagram showing the configuration of the automatic control system of the wheel loader 1.
  • the automation controller 100 is configured to be able to send and receive signals to and from the vehicle body controller 50 described with reference to FIG.
  • the automation controller 100 is also configured to be able to send and receive signals to and from the external world information acquisition section 110.
  • the external world information acquisition unit 110 includes a perception device 111 and a position information acquisition device 112.
  • the perception device 111 and the position information acquisition device 112 are mounted on the wheel loader 1.
  • the perception device 111 acquires information around the wheel loader 1.
  • the sensing device 111 is attached to the upper front surface of the cab 5, for example.
  • the sensing device 111 corresponds to an example of an "object sensor" that detects objects around the main body of the wheel loader 1.
  • the sensing device 111 detects the direction of an object outside the wheel loader 1 and the distance to the object in a non-contact manner.
  • the perception device 111 is, for example, a LiDAR (Light Detection and Ranging) that emits a laser beam to obtain information about an object.
  • Perceptual device 111 may be a visual sensor including a camera.
  • the perception device 111 may be a Radar (Radio Detection and Ranging) that acquires information about an object by emitting radio waves.
  • the sensing device 111 may be an infrared sensor.
  • the position information acquisition device 112 acquires information on the current position of the wheel loader 1.
  • the position information acquisition device 112 uses, for example, a satellite positioning system to acquire position information of the wheel loader 1 in a global coordinate system based on the earth.
  • the position information acquisition device 112 uses, for example, GNSS (Global Navigation Satellite Systems) and has a GNSS receiver.
  • the satellite positioning system calculates the position of the wheel loader 1 by calculating the position of the antenna of the GNSS receiver based on the positioning signal that the GNSS receiver receives from the satellite.
  • the external world information of the wheel loader 1 obtained by the sensing device 111 and the position information of the wheel loader 1 obtained by the position information acquisition device 112 are input to the automation controller 100.
  • the vehicle body controller 50 is configured to be able to send and receive signals to and from the vehicle information acquisition section 120, and receives input of information about the wheel loader 1 that the vehicle information acquisition section 120 acquires.
  • the vehicle information acquisition unit 120 is composed of various sensors mounted on the wheel loader 1.
  • the vehicle information acquisition unit 120 includes an articulate angle sensor 121, a vehicle speed sensor 122, a boom angle sensor 123, a bucket angle sensor 124, and a boom cylinder pressure sensor 125.
  • the articulate angle sensor 121 detects an articulate angle, which is the angle formed by the front frame 2a and the rear frame 2b, and generates a signal of the detected articulate angle.
  • the articulate angle sensor 121 outputs an articulate angle signal to the vehicle body controller 50.
  • the vehicle speed sensor 122 detects the moving speed of the wheel loader 1 by the traveling device 4 by detecting, for example, the rotational speed of the output shaft of the transmission 23, and generates a signal of the detected vehicle speed. Vehicle speed sensor 122 outputs a vehicle speed signal to vehicle controller 50.
  • the vehicle speed sensor 122 corresponds to an example of a "traveling sensor" that detects the progress of the traveling device 4 (traveling object).
  • the boom angle sensor 123 is composed of, for example, a rotary encoder provided on the boom pin 9, which is the attachment portion of the boom 14 to the vehicle body frame 2.
  • the boom angle sensor 123 detects the angle of the boom 14 with respect to the horizontal direction and generates a signal of the detected angle of the boom 14.
  • Boom angle sensor 123 outputs a signal indicating the angle of boom 14 to vehicle controller 50 .
  • the bucket angle sensor 124 is composed of, for example, a rotary encoder provided on the support pin 18a, which is the rotation axis of the bell crank 18. Bucket angle sensor 124 detects the angle of bucket 6 with respect to boom 14 and generates a signal of the detected angle of bucket 6. Bucket angle sensor 124 outputs a signal indicating the angle of bucket 6 to vehicle controller 50 .
  • the boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a "work machine attitude sensor” that detects the attitude of the work machine 3.
  • the boom cylinder pressure sensor 125 detects the pressure on the bottom side of the boom cylinder 16 (boom bottom pressure) and generates a signal of the detected boom bottom pressure.
  • the boom bottom pressure is high when the bucket 6 is loaded and low when it is empty.
  • Boom cylinder pressure sensor 125 outputs a boom bottom pressure signal to vehicle body controller 50.
  • the vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100.
  • the automation controller 100 receives detected values from the vehicle speed sensor 122, boom angle sensor 123, and bucket angle sensor 124 via the vehicle body controller 50.
  • the actuator 140 is configured to be able to transmit and receive signals to and from the vehicle body controller 50. In response to a command signal from the vehicle body controller 50, the actuator 140 is driven.
  • the actuator 140 includes a brake EPC (electromagnetic proportional control valve) 141 for operating the brake of the traveling device 4, a steering EPC 142 for adjusting the running direction of the wheel loader 1, and a working machine for operating the working machine 3. It includes an EPC 143 and an HMT (Hydraulic Mechanical Transmission) 144.
  • the electromagnetic proportional control valves 35 and 36 shown in FIG. 2 constitute a working machine EPC 143.
  • the transmission 23 shown in FIG. 2 is realized as an HMT 144 that utilizes electronic control.
  • the transmission 23 may be an HST (Hydro-Static Transmission).
  • the power transmission device that transmits power from the engine 21 to the running wheels 4a, 4b may include an electric drive device such as a diesel electric system, or may include any combination of HMT, HST, and electric drive device. .
  • the transmission controller 70 has a brake control section 71 and an accelerator control section 72.
  • the brake control unit 71 outputs a command signal to the brake EPC 141 to control the operation of the brake.
  • the accelerator control unit 72 outputs a command signal to the HMT 144 to control the vehicle speed.
  • the work machine controller 80 has a steering control section 81 and a work machine control section 82.
  • the steering control unit 81 outputs a command signal for controlling the running direction of the wheel loader 1 to the steering EPC 142.
  • the work machine control unit 82 outputs a command signal for controlling the operation of the work machine 3 to the work machine EPC 143.
  • the automation controller 100 includes a position estimation section 101, a path planning section 102, and a route following control section 103.
  • the position estimation unit 101 estimates the self-position of the wheel loader 1 based on the position information acquired by the position information acquisition device 112. Further, the position estimating unit 101 recognizes the target position based on the external world information acquired by the sensing device 111.
  • the target position is, for example, the position of the excavated object 310 or the dump truck 300 shown in FIG. 3 .
  • the sensing device 111 may recognize the target position and input it to the automation controller 100, or the position estimation unit 101 may recognize the target position based on the detection result detected by the sensing device 111.
  • the path planning unit 102 generates an optimal route connecting the self-position of the wheel loader 1 and the target position.
  • the optimal route includes a traveling route by the traveling device 4 and an operation route of the working machine 3.
  • the route following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 follows the optimal route generated by the path planning unit 102.
  • a command signal for causing the wheel loader 1 to travel along the optimal route is output from the route following control section 103 to the brake control section 71, the accelerator control section 72, and the steering control section 81.
  • the path following control section 103 controls the boom cylinder 16 and the bucket cylinder 19 so that the working machine 3 operates along the optimal path generated by the path planning section 102.
  • a command signal for moving the work machine 3 along the optimal route is output from the route following control unit 103 to the work machine control unit 82.
  • the interface 130 is configured to be able to send and receive signals to and from the vehicle body controller 50.
  • the interface 130 has an automation changeover switch 131, an engine emergency stop switch 132, and a mode lamp 133.
  • the automation changeover switch 131 is operated by an operator. By operating the automation changeover switch 131, the operator switches between manually operating the wheel loader 1 and automatically controlling the wheel loader 1.
  • Engine emergency stop switch 132 is operated by an operator. When an event occurs that requires an emergency stop of the engine 21, the operator operates the engine emergency stop switch 132. Signals for operating the automation changeover switch 131 and the engine emergency stop switch 132 are input to the vehicle body controller 50.
  • the mode lamp 133 indicates whether the wheel loader 1 is currently in a manual operation mode by an operator or an automatically controlled mode.
  • a command signal for controlling lighting of the lamp is output from the vehicle body controller 50 to the mode lamp 133.
  • FIG. 5 is a flowchart showing the flow of the operation of automatically controlling the wheel loader 1 to load the load loaded into the bucket 6 onto the loading target.
  • the shape of the vessel 301 of the dump truck 300 is recognized.
  • the shape of the dump truck 300 is acquired using LiDAR, which is the sensing device 111.
  • LiDAR irradiates the dump truck 300 with laser light to obtain point cloud data indicating three-dimensional coordinate values of measurement points on the dump truck 300.
  • the dump truck 300 can be detected from the front, rear, right, and left sides, and the shape of the vessel 301 can be recognized from the point cloud information.
  • the recognized shape of the vessel 301 is input to the automation controller 100.
  • step S101 the perception device 111 recognizes the reference point P of the dump truck 300.
  • LiDAR which is the sensing device 111, detects the dump truck 300.
  • the automation controller 100 recognizes the position of the vessel 301 by comparing the point cloud detected by the perception device 111 with a master point cloud indicating the shape of the vessel 301.
  • the automation controller 100 sets the upper end of the side surface of the vessel 301 of the dump truck 300 recognized by LiDAR, which is the sensing device 111, as a reference point P.
  • step S102 the automation controller 100 sets the coordinates of the target positions a to d of the cutting edge 6a of the bucket 6, which is moved under automatic control, with respect to the reference point P.
  • the cutting edge 6a of the bucket 6 corresponds to an example of a "feature point" set on the work machine 3. Note that the feature point is not limited to the cutting edge 6a of the bucket 6, and other points on the work machine 3 may be set as the feature point.
  • FIG. 6 is a diagram schematically showing the arrangement of the vessel 301 and the wheel loader 1 at the start of the dump approach. 6 and subsequent FIGS. 7 to 10, the vessel 301 is schematically shown as seen from the front and rear directions of the dump truck 300, and the wheel loader 1 approaching the vessel 301 from the left or right side of the dump truck 300 is shown schematically. A part of the front side is shown schematically.
  • the target position a is set as the position through which the cutting edge 6a of the bucket 6 passes while the wheel loader 1 is traveling forward toward the dump truck 300.
  • the target position a is the position at which the movement of the bucket 6 in the dumping direction is started in order to load the load in the bucket 6 into the vessel 301.
  • the target position a is set as a point farther from the vessel 301 than the reference point P.
  • the target position a is set as a point before the reference point P of the vessel 301.
  • the target position a is set as a point higher than the reference point P of the vessel 301.
  • the target position a corresponds to an example of a "first target position.”
  • the target position b is set as the position through which the blade edge 6a of the bucket 6 passes after passing through the target position a and exceeding the reference point P.
  • the target position b is set as the point at which the cutting edge 6a of the bucket 6 moves to the farthest side (to the left in FIGS. 6 to 10) when the wheel loader 1 moves forward and approaches the vessel 301.
  • Ru. Target position b is above the vessel 301.
  • the target position b corresponds to an example of a "second target position.”
  • the target position c is set as the position through which the cutting edge 6a of the bucket 6 passes after passing through the target position b.
  • the target position c is the position at which the movement of the bucket 6 in the dumping direction is stopped.
  • the bucket 6 continues to move in the dumping direction from when the cutting edge 6a of the bucket 6 passes through the target position a until it reaches the target position c.
  • the target position c is above the vessel 301.
  • the target position c is set closer to the reference point P than the target position b.
  • the target position d is set as the position through which the cutting edge 6a of the bucket 6 passes after passing through the target position c.
  • the target position d is the position at which the operation of raising the boom 14 is stopped.
  • the wheel loader 1 which is traveling forward toward the dump truck 300, is raising the boom 14.
  • the raising operation of the boom 14 continues from when the wheel loader 1 starts the dump approach until the cutting edge 6a of the bucket 6 reaches the target position d.
  • the target position d is above the vessel 301.
  • the target position d is set closer to the reference point P than the target position c.
  • an xy coordinate system is set with the reference point P as the origin.
  • the x-axis is the left-right direction of the dump truck 300 passing through the reference point P.
  • the direction away from the vessel 301 with respect to the reference point P is the +x direction.
  • the y-axis is the vertical direction passing through the reference point P.
  • the upward direction from the reference point P is the +y direction.
  • the bucket angle ⁇ shown in FIG. 6 is the angle between the ground and the back surface 6b of the bucket 6.
  • the bucket angle ⁇ may be an angle between the back surface 6b of the bucket 6 and a horizontal plane based on the vehicle body.
  • the target positions a to d are determined by providing the horizontal and vertical positions of the cutting edge 6a of the bucket 6 with respect to the reference point P, that is, the x and y coordinates.
  • the target position a is set as the position where the height position of the cutting edge 6a becomes the highest (the y coordinate becomes the maximum value) during the loading operation.
  • the target position c is set as the position where the height position of the cutting edge 6a becomes the lowest (the y coordinate becomes the minimum value) while the load in the bucket 6 is being unloaded.
  • the target position a is set to a position where the y-coordinate is on the plus side.
  • the target position c is set to a position where the y-coordinate is on the minus side.
  • the target position a is set to a position where the x-coordinate is on the plus side.
  • the target positions b, c, and d are set to positions where the x coordinate is on the minus side.
  • the target position b is set as the position where the x-coordinate has the minimum value while the load in the bucket 6 is being unloaded.
  • the bucket angle ⁇ when the cutting edge 6a of the bucket 6 is at each target position is also set.
  • the attitude of the working machine 3 when the cutting edge 6a of the bucket 6 is at each target position is determined from the x and y coordinates of each target position and the bucket angle ⁇ at each target position.
  • the automation controller 100 stores the postures (target postures) of the working machine 3 when the cutting edge 6a of the bucket 6 is at each target position. Based on the target posture when the cutting edge 6a of the bucket 6 is at each target position, the length of the boom cylinder 16 and the length of the bucket cylinder 19 when the cutting edge 6a of the bucket 6 is at each target position are determined.
  • the x-coordinate and y-coordinate of each target position and the bucket angle ⁇ at each target position are determined by analyzing the locus of the cutting edge 6a when a skilled operator performs loading work and extracting the characteristic position. It can be determined by extracting the attitude of the working machine 3 at the position.
  • FIG. 7 is a diagram schematically showing the attitude of the wheel loader 1 when starting the dumping operation of the bucket 6.
  • FIG. 8 is a diagram schematically showing the attitude of the wheel loader 1 when the cutting edge 6a reaches the innermost position.
  • FIG. 9 is a diagram schematically showing the attitude of the wheel loader 1 when the dumping operation of the bucket 6 is stopped.
  • FIG. 10 is a diagram schematically showing the attitude of the wheel loader 1 when the raising operation of the boom 14 is stopped.
  • the cutting edge 6a of the bucket 6 is at the target position a.
  • the cutting edge 6a is at the target position b.
  • the cutting edge 6a is at the target position c.
  • the cutting edge 6a is at the target position d.
  • FIG. 11 is a graph showing changes in cylinder length during loading work.
  • the horizontal axis in FIG. 11 shows the passage of time, and auxiliary lines are drawn at the times when the cutting edge 6a passes through the target positions a, b, c, and d.
  • the vertical axis in FIG. 11 indicates the lengths of the boom cylinder 16 and the bucket cylinder 19.
  • the wheel loader 1 is traveling forward before the cutting edge 6a reaches the target position a.
  • the length of the boom cylinder 16 is increasing and therefore the boom 14 is rising.
  • the length of the bucket cylinder 19 is constant, so the attitude of the bucket 6 is constant.
  • the bucket 6 is in a tilted state with an object to be excavated loaded therein.
  • the bucket 6 is in a position that allows the load inside the bucket 6 to be stably transported.
  • the wheel loader 1 continues to travel forward until the cutting edge 6a reaches the target position b after passing through the target position a.
  • Boom cylinder 16 continues to increase in length and thus boom 14 continues to rise.
  • the cutting edge 6a reaches the target position a
  • the movement of the bucket 6 in the dumping direction is started, and the bucket 6 continues to move in the dumping direction until it reaches the target position b.
  • the length of bucket cylinder 19 continues to decrease.
  • the target position b is lower in height than the target position a.
  • the value of the y-coordinate of target position b is smaller than the value of the y-coordinate of target position a.
  • the wheel loader 1 continues to travel forward until the cutting edge 6a reaches the target position c after passing through the target position b.
  • Boom cylinder 16 continues to increase in length and thus boom 14 continues to rise.
  • Bucket cylinder 19 continues to decrease in length, so bucket 6 continues to move in the dumping direction.
  • the target position c is lower in height than the target position b.
  • the value of the y-coordinate of the target position c is smaller than the value of the y-coordinate of the target position b.
  • the boom 14 continues to rise. While the bucket 6 is being unloaded, the boom 14 continues to rise. While loading the dump truck 300, the boom 14 continues to rise. During the dumping operation of the bucket 6, the wheel loader 1 moves toward the vessel 301 of the dump truck 300, and therefore continues to travel forward.
  • the wheel loader 1 is traveling forward at the time when the cutting edge 6a passes the target position c, and the wheel loader 1 is moving forward at the time when the cutting edge 6a passes the target position d. I am driving backwards. While the cutting edge 6a is moving between the target position c and the target position d, the running direction of the wheel loader 1 is switched from forward to reverse. Boom cylinder 16 continues to increase in length and thus boom 14 continues to rise. The length of the bucket cylinder 19 is constant, so the attitude of the bucket 6 with respect to the vehicle body is constant.
  • the target position c is a position where the movement of the bucket 6 in the dump direction is stopped, and the bucket 6 maintains the full dump attitude while the cutting edge 6a moves from the target position c to the target position d.
  • the length of the boom cylinder 16 is kept constant. At this time, the height position of the boom 14 is at its highest.
  • the load in the bucket 6 has already been loaded into the vessel 301, and the bucket 6 is in an empty state. Since the weight of the load in the bucket 6 is small, the influence of inertia when the boom 14 is stopped is small. Therefore, vibration of the vehicle body is less likely to occur.
  • the load in the bucket 6 can be transferred to the vessel without bringing the bucket 6 into contact with the vessel 301. 301 can be loaded.
  • step S103 the automation controller 100 recognizes the current positions of the wheel loader 1 and the work machine 3.
  • the wheel loader 1 and the work implement in the global coordinate system are 3's current position can be recognized.
  • the relative position of the cutting edge 6a of the bucket 6 with respect to the vessel 301 of the dump truck 300 can be calculated.
  • the sensing device 111 by using the sensing device 111 to obtain the direction and distance of the reference point P of the vessel 301 of the dump truck 300 with respect to the arrangement position of the sensing device 111, the current relative position of the cutting edge 6a of the bucket 6 with respect to the reference point P can be determined. may be calculated.
  • the cutting edge 6a of the bucket 6 is in relation to each of the target positions a to d. For example, the cutting edge 6a has not yet reached the target position a, the cutting edge 6a has passed the target position a and is between target positions a and b, the cutting edge 6a has passed the target position b and is now at the target position. b and the target position c, etc. Furthermore, the target position to which the cutting edge 6a will go next is recognized. For example, if the cutting edge 6a has not yet reached the target position a, the next destination is the target position a, and if the cutting edge 6a is between the target positions a and b, the next destination is the target position. It is recognized as being at position b.
  • step S104 the automation controller 100 recognizes the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position.
  • a boom angle sensor 123 detects the angle of the boom 14 .
  • a bucket angle sensor 124 detects the angle of the bucket 6.
  • the attitude of the working machine 3 is determined from the angle of the boom 14 and the angle of the bucket 6. Based on the attitude of the working machine, the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position are recognized.
  • an angle sensor that detects the angle of the bell crank 18 and an angle sensor that detects the angle of the link 15 may be provided.
  • the boom cylinder 16 and the bucket cylinder 19 may be provided with stroke sensors that detect cylinder stroke lengths.
  • step S105 the automation controller 100 determines the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position recognized in step S104, and the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the target position where the cutting edge 6a will go next. (hereinafter referred to as target cylinder length).
  • target cylinder length The automation controller 100 calculates how far the cylinder should be moved until the cutting edge 6a reaches the next target position.
  • step S106 the automation controller 100 refers to the current vehicle speed and determines a target cylinder stroke speed that will result in the target cylinder length when the cutting edge 6a reaches the next target position.
  • the automation controller 100 controls the boom cylinder 16 and the bucket cylinder 19 so that when the cutting edge 6a reaches the next target position, the working machine 3 assumes a target attitude corresponding to the target position.
  • the current vehicle speed is acquired by vehicle speed sensor 122.
  • the time required to reach the next target position can be calculated from the current position of the cutting edge 6a and the current vehicle speed.
  • the target cylinder stroke speed can be determined by dividing the difference in cylinder length calculated in step S105 by the time required to reach the next target position.
  • the cylinder stroke amount during which the wheel loader 1 travels a unit distance may be determined. Whether the wheel loader 1 has traveled a unit distance may be determined from the vehicle speed, or may be detected by the sensing device 111.
  • step S107 the automation controller 100 outputs a command current corresponding to the target cylinder stroke speed to the vehicle body controller 50.
  • the automation controller 100 outputs a command to the work machine control unit 82 of the work machine controller 80 to extend and contract the boom cylinder 16 and the bucket cylinder 19 at a target cylinder stroke speed.
  • a command is output from the work equipment control unit 82 to the work equipment EPC 143 to extend and retract the boom cylinder 16 and the bucket cylinder 19 at a target cylinder stroke speed.
  • step S108 the working machine EPC 143 that has received the command signal adjusts the opening degree, so that appropriate hydraulic oil is supplied to the boom cylinder 16 and the bucket cylinder 19. This causes the boom cylinder 16 and bucket cylinder 19 to operate.
  • step S109 the automation controller 100 recognizes the current lengths of the boom cylinder 16 and bucket cylinder 19 similarly to step S104. The automation controller 100 determines whether the current lengths of the boom cylinder 16 and bucket cylinder 19 have reached the target cylinder length.
  • step S109 If it is determined in step S109 that the target cylinder length has been reached (YES in step S109), the process proceeds to step S110, and the automation controller 100 determines whether there is a next target position.
  • step S109 If it is determined in step S109 that the target cylinder length has not been reached (NO in step S109), and if it is determined in step S110 that there is a next target position (YES in step S110) , the process returns to step S103, and the process of expanding and contracting the boom cylinder 16 and the bucket cylinder 19 based on the current position of the working machine 3 is repeated.
  • the cylinder speed is sequentially changed according to the current position of the cutting edge 6a of the bucket 6. If the current position of the cutting edge 6a deviates from the position based on the cylinder speed set in the previous process, the cylinder speed is adjusted.
  • step S110 If it is determined in step S110 that there is no next target position (NO in step S110), the loading operation is ended. In this embodiment, this corresponds to the fact that the next target position is not set after the end of the target position d.
  • the traveling device 4 moves forward and the working machine 3 approaches the loading target vessel 301
  • the bucket 6 is moved to the target position a, which is farther from the vessel 301 than the reference point P.
  • the automation controller 100 starts driving the bucket cylinder 19 to move the bucket 6 in the dumping direction.
  • the vehicle body may swing back and forth due to the influence of inertia and become unstable.
  • the weight of the load is large, so the influence of inertia becomes large.
  • the load in the bucket 6 can be loaded from the front side of the vessel 301. This makes it easier to adjust the loading appearance during the next loading operation.
  • the automation controller 100 operates a bucket cylinder that moves the bucket 6 in the dumping direction until the cutting edge 6a of the bucket 6 crosses the reference point P and reaches the target position b above the vessel 301. 19 continues to be driven. By operating in this way, the load in the bucket 6 can be reliably loaded into the vessel 301.
  • the automation controller 100 continues to drive the bucket cylinder 19 that moves the bucket 6 in the dumping direction even after the cutting edge 6a of the bucket 6 passes the target position b. By operating in this manner, the load can be more reliably removed from the bucket 6.
  • the automation controller 100 starts driving the boom cylinder 16 that raises the boom 14 before the cutting edge 6a of the bucket 6 reaches the target position a, so that the cutting edge 6a reaches the target position a. Even after passing point a, the boom cylinder 16 that raises the boom 14 continues to be driven. Thereby, the operation of starting dumping of the bucket 6 while the boom 14 is rising can be reliably realized. Contact between the upper end of the side surface of the vessel 301 set at the reference point P and the working machine 3 can be avoided.
  • the automation controller 100 continues to drive the boom cylinder 16 that raises the boom 14 until the cutting edge 6a of the bucket 6 reaches the target position b.
  • the loading work can be reliably performed without stopping the operation of the working machine 3.
  • the automation controller 100 continues to drive the boom cylinder 16 that raises the boom 14 even after the cutting edge 6a of the bucket 6 passes the target position b. By operating in this way, the loading work can be reliably performed without stopping the operation of the working machine 3.
  • the automation controller 100 continues to drive the boom cylinder 16 that raises the boom 14 until it stops driving the bucket cylinder 19 that moves the bucket 6 in the dumping direction. By operating in this way, the loading work can be reliably performed without stopping the operation of the working machine 3.
  • the automation controller 100 continues to drive the boom cylinder 16 that raises the boom 14 until the forward movement of the traveling device 4 is stopped. By operating in this way, the loading work can be reliably performed without stopping the operation of the working machine 3.
  • the automation controller 100 stores the target posture of the working machine 3 when the cutting edge 6a of the bucket 6 is at the target position a.
  • the automation controller 100 controls the boom cylinder 16 and the bucket cylinder 19 so that the working machine 3 assumes the target posture when the cutting edge 6a reaches the target position a. By operating in this manner, contact between the working machine 3 and the vessel 301 can be reliably avoided.
  • the automation controller 100 that constitutes the automatic control system for the wheel loader 1 described in the above embodiment does not necessarily have to be installed in the wheel loader 1.
  • the controller installed in the wheel loader 1 performs a process of transmitting information acquired by the external world information acquisition unit 110, the vehicle information acquisition unit 120, etc. to an external controller, and the external controller that receives the signal transmits the information to the wheel loader 1.
  • a system may be configured to automatically control the
  • the external controller may be located at the work site of the wheel loader 1 or may be located at a remote location away from the work site of the wheel loader 1.
  • the wheel loader 1 is a manned vehicle that includes a cab 5 and an operator rides in the cab 5.
  • the wheel loader 1 may be an unmanned vehicle.
  • the wheel loader 1 does not need to include a cab 5 for an operator to board and operate.
  • the wheel loader 1 does not need to be equipped with a control function by an operator on board.
  • the wheel loader 1 may be a working machine exclusively for remote control.
  • the wheel loader 1 may be controlled by radio signals from a remote control device.
  • the controller recognizes a loading target for loading the load in the bucket based on the detection of an object, and when the working machine approaches the loading target due to forward travel of the traveling body, the controller recognizes the loading target for loading the load in the bucket.
  • the work equipment actuator operates the bucket in the dumping direction while continuing the forward travel of the traveling body.
  • the working machine starts driving.
  • the work machine has a boom connected to the main body,
  • the controller starts driving the work implement actuator that raises the boom before the feature point reaches the first target position, and continues to drive the work equipment actuator to raise the boom even after the feature point passes the first target position.
  • the working machine according to Supplementary Note 2 or 3, wherein the working machine continues to drive the working machine actuator that raises the working machine.
  • Appendix 5 The work machine according to appendix 4, wherein the controller continues to drive the work machine actuator that raises the boom until the feature point reaches the second target position.
  • Appendix 6 The working machine according to appendix 5, wherein the controller continues to drive the working machine actuator that raises the boom even after the feature point passes the second target position.
  • the controller stores a target attitude of the work machine when the feature point is at the first target position, and the work machine moves to the target attitude when the feature point reaches the first target position.
  • the work machine according to any one of appendices 1 to 9, wherein the work machine actuator is controlled so as to take the following conditions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne un engin de chantier avec lequel le temps de cycle de travail peut être raccourci. Un capteur de déplacement détecte l'état d'avancement d'un corps mobile. Un capteur d'attitude d'engin de chantier détecte l'attitude de l'engin de chantier. Un capteur d'objet détecte un objet à proximité d'un corps principal. Un dispositif de commande commande l'entraînement d'un actionneur d'engin de chantier sur la base de valeurs détectées provenant du capteur de déplacement, du capteur d'attitude d'engin de chantier et du capteur d'objet. Le dispositif de commande reconnaît, sur la base d'une détection d'objet, une cible de chargement pour charger une charge dans un godet. Lorsque l'engin de chantier s'approche de la cible de chargement lorsque le corps mobile se déplace vers l'avant, le dispositif de commande commence à entraîner l'actionneur d'engin de chantier pour déplacer le godet dans une direction de déversement tout en continuant le déplacement vers l'avant du corps mobile au moment où un point caractéristique du godet atteint une première position cible, la première position cible étant sur le côté proche de la cible de chargement et plus haute que la cible de chargement.
PCT/JP2023/028886 2022-08-24 2023-08-08 Engin de chantier, système comprenant un engin de chantier et procédé de commande d'un engin de chantier WO2024043074A1 (fr)

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JP2022133547A JP2024030581A (ja) 2022-08-24 2022-08-24 作業機械、作業機械を含むシステム、および作業機械の制御方法
JP2022-133547 2022-08-24

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1088625A (ja) * 1996-09-13 1998-04-07 Komatsu Ltd 自動掘削機、自動掘削方法および自動積み込み方法
WO2011108550A1 (fr) * 2010-03-05 2011-09-09 株式会社小松製作所 Dispositif de commande de fonctionnement d'amortisseur pour véhicule de travail, et procédé de commande de fonctionnement d'amortisseur
WO2015129932A1 (fr) * 2015-03-25 2015-09-03 株式会社小松製作所 Chargeuse sur roues
JP2019190238A (ja) * 2018-04-27 2019-10-31 株式会社小松製作所 積込機械の制御装置及び積込機械の制御方法
JP2021009556A (ja) * 2019-07-01 2021-01-28 株式会社小松製作所 作業機械を含むシステム、および作業機械
US20210223400A1 (en) * 2020-01-20 2021-07-22 Doosan Infracore Co., Ltd. System and method of controlling wheel loader

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1088625A (ja) * 1996-09-13 1998-04-07 Komatsu Ltd 自動掘削機、自動掘削方法および自動積み込み方法
WO2011108550A1 (fr) * 2010-03-05 2011-09-09 株式会社小松製作所 Dispositif de commande de fonctionnement d'amortisseur pour véhicule de travail, et procédé de commande de fonctionnement d'amortisseur
WO2015129932A1 (fr) * 2015-03-25 2015-09-03 株式会社小松製作所 Chargeuse sur roues
JP2019190238A (ja) * 2018-04-27 2019-10-31 株式会社小松製作所 積込機械の制御装置及び積込機械の制御方法
JP2021009556A (ja) * 2019-07-01 2021-01-28 株式会社小松製作所 作業機械を含むシステム、および作業機械
US20210223400A1 (en) * 2020-01-20 2021-07-22 Doosan Infracore Co., Ltd. System and method of controlling wheel loader

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