WO2024127947A1 - Système comprenant un engin de chantier, procédé de commande d'engin de chantier et dispositif de commande pour engin de chantier - Google Patents
Système comprenant un engin de chantier, procédé de commande d'engin de chantier et dispositif de commande pour engin de chantier Download PDFInfo
- Publication number
- WO2024127947A1 WO2024127947A1 PCT/JP2023/042186 JP2023042186W WO2024127947A1 WO 2024127947 A1 WO2024127947 A1 WO 2024127947A1 JP 2023042186 W JP2023042186 W JP 2023042186W WO 2024127947 A1 WO2024127947 A1 WO 2024127947A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work machine
- bucket
- pile
- controller
- wheel loader
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 15
- 239000000463 material Substances 0.000 claims abstract description 202
- 230000009194 climbing Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 abstract 1
- 230000008447 perception Effects 0.000 description 34
- 238000010586 diagram Methods 0.000 description 24
- 238000007790 scraping Methods 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 239000010720 hydraulic oil Substances 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Images
Definitions
- the material can be soil, rocks, or ore that has been excavated at the work site or transported to the work site by a transport machine such as a dump truck.
- This disclosure proposes a technology that can accurately predict the area required for scooping.
- a control method is a control method for a work machine that performs shoveling work.
- Shoveling work is work that climbs a slope formed by material and piles the material on the upper part of the slope.
- the control method includes the following steps. The first step is to calculate a piled-up volume, which is the volume of material piled up on the upper part of the slope by the shoveling work.
- the second step is to determine the shoveled area based on the piled-up volume.
- the boom cylinder 16 and the bucket cylinder 19 constitute a work machine actuator that drives the work machine 3.
- a cab 5 in which the operator sits, and a pair of running wheels (rear wheels) 4b are attached to the rear frame 2b.
- the box-shaped cab 5 is disposed behind the boom 14.
- the cab 5 is mounted on the rear frame 2b.
- the cab 5 is placed on the vehicle body frame 2. Inside the cab 5, there is a seat in which the operator of the wheel loader 1 sits, an operating device 8 (described later), and the like.
- Length L1 shown in FIG. 1 is the length from the center of the front wheel 4a to the center of the rear wheel 4b in the front-rear direction (wheelbase length).
- Length L2 is the length from the center of the rear wheel 4b to the rear end of the vehicle body in the front-rear direction (rear overhang length).
- Length L3 is the diameter of the rear wheel 4b (tire diameter) and is the length from the ground surface G to the center of the rear wheel 4b in the vertical direction.
- Length L4 is the length from the center of the front wheel 4a to the center of the boom pin 9 in the front-rear direction.
- Length L5 is the length from the ground surface G to the center of the boom pin 9 in the vertical direction.
- Length L6 is the length from the center of the bucket pin 17 to the cutting edge 6a of the bucket 6 (bucket length).
- Length L7 is the length from the center of the boom pin 9 to the center of the bucket pin 17 (boom length
- Angle ⁇ is the angle of the lower rear part of the vehicle body (backward angle).
- Angle ⁇ (backward angle) is the angle between the ground G and the backward angle defining line, which is a straight line connecting the contact point where the rear wheel 4b touches the ground G and the underside of the rear end of the vehicle body.
- the backward angle defining line is a line that defines angle ⁇ (backward angle).
- Length L8 shown in FIG. 2 is the length from the left boom pin 9L to the right boom pin 9R in the left-right direction (boom pin distance).
- Length L9 is the length from the left end to the right end of the bucket 6 in the left-right direction (bucket width).
- the work machine control lever 42 is operated to operate the work machine 3.
- the work machine controller 80 controls the electromagnetic proportional control valves 35, 36 based on the amount of operation of the work machine control lever 42.
- the angle of repose ⁇ of the material may be input by the operator via the interface 130 and stored in the vehicle body controller 50.
- the path planning unit 102 of the automation controller 100 may read out the angle of repose ⁇ stored in the vehicle body controller 50 as appropriate and use it for other calculations such as the calculation of the stacking height H1 and the calculation of the scooping height H2 described below.
- the path planning unit 102 may recognize the material and condition of the material 200 by comparing information about the material 200 in front of the vehicle body detected by the perception device 111 with a database stored in the automation controller 100 or the vehicle body controller 50, and determine the angle of repose ⁇ .
- the shoveling work is a work in which the wheel loader 1 climbs the mountain of material 200 while digging the mountain of material 200 with the bucket 6. As the wheel loader 1 climbs the mountain, the body of the wheel loader 1 tilts so that the front of the body faces upward. The wheel loader 1 can climb a slope by tilting the body to an angle where the body comes into contact with the ground G.
- the path following control unit 103 operates the wheel loader 1 to follow the newly generated optimal path, thereby carrying out the stacking work of the next pile.
- the path following control unit 103 repeatedly carries out the stacking work of multiple piles.
- Figure 13 shows a state in which three piles have been formed behind the pile of material 200 formed by the first stacking work.
- the automation controller 100 compares the current height of the pile of material 200 formed by the scraping operation with the scraping height H2 determined in step S5. If it is determined that the current height is lower than the scraping height H2, it is determined that the height of the pile of material 200 has not reached the scraping height H2 (NO in step S11). In that case, the process returns to step S10, and the scraping operation continues.
- the path planning unit 102 of the automation controller 100 calculates the piled-up volume, which is the volume of the material 200 piled up by the shoveling work on the upper part of the slope formed by the material 200, and determines the shoveled area V2 based on the piled-up volume.
- the path planning unit 102 may further calculate the piled volume using the length L9, which is the bucket width.
- the piled volume can be appropriately determined by multiplying the area determined based on the stacking height H1, the scooping height H2, and the angle of repose ⁇ of the material 200 by the bucket width.
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- Operation Control Of Excavators (AREA)
Abstract
Dans la présente invention, une zone nécessitant un râtelage est déterminée de manière appropriée. Le travail de râtelage consiste à monter une pente formée de matériau et à empiler le matériau au sommet de la pente. Ce système comprend un corps d'engin de chantier ayant un corps mobile, un outil de travail qui est fixé au corps d'engin de chantier et qui comprend un godet, et un dispositif de commande qui commande des opérations du corps mobile et de l'engin de chantier. Le dispositif de commande calcule un volume d'empilage, qui est le volume de matériau empilé au sommet de la pente par le travail de ratissage, et détermine une zone à râteler (V2) sur la base du volume d'empilage.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022199449A JP2024085103A (ja) | 2022-12-14 | 作業機械を含むシステム、作業機械の制御方法、および作業機械のコントローラ | |
JP2022-199449 | 2022-12-14 |
Publications (1)
Publication Number | Publication Date |
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WO2024127947A1 true WO2024127947A1 (fr) | 2024-06-20 |
Family
ID=91485647
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2023/042186 WO2024127947A1 (fr) | 2022-12-14 | 2023-11-24 | Système comprenant un engin de chantier, procédé de commande d'engin de chantier et dispositif de commande pour engin de chantier |
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WO (1) | WO2024127947A1 (fr) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019189260A1 (fr) * | 2018-03-27 | 2019-10-03 | 住友重機械工業株式会社 | Excavatrice |
JP2020060032A (ja) * | 2018-10-10 | 2020-04-16 | 株式会社小松製作所 | 運搬車両と運搬車両に素材を積み込む作業機械とを含むシステム、方法、及び作業機械 |
JP2022030484A (ja) * | 2020-08-07 | 2022-02-18 | 株式会社小松製作所 | 掘削情報処理装置、作業機械、掘削支援装置および掘削情報処理方法 |
JP2022057021A (ja) * | 2020-09-30 | 2022-04-11 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
-
2023
- 2023-11-24 WO PCT/JP2023/042186 patent/WO2024127947A1/fr unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019189260A1 (fr) * | 2018-03-27 | 2019-10-03 | 住友重機械工業株式会社 | Excavatrice |
JP2020060032A (ja) * | 2018-10-10 | 2020-04-16 | 株式会社小松製作所 | 運搬車両と運搬車両に素材を積み込む作業機械とを含むシステム、方法、及び作業機械 |
JP2022030484A (ja) * | 2020-08-07 | 2022-02-18 | 株式会社小松製作所 | 掘削情報処理装置、作業機械、掘削支援装置および掘削情報処理方法 |
JP2022057021A (ja) * | 2020-09-30 | 2022-04-11 | 株式会社小松製作所 | 作業機械および作業機械の制御方法 |
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