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WO2023163090A1 - Système de commande, machine de chargement et procédé de commande - Google Patents

Système de commande, machine de chargement et procédé de commande Download PDF

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Publication number
WO2023163090A1
WO2023163090A1 PCT/JP2023/006681 JP2023006681W WO2023163090A1 WO 2023163090 A1 WO2023163090 A1 WO 2023163090A1 JP 2023006681 W JP2023006681 W JP 2023006681W WO 2023163090 A1 WO2023163090 A1 WO 2023163090A1
Authority
WO
WIPO (PCT)
Prior art keywords
bucket
angle
weight
excavated
repose
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/006681
Other languages
English (en)
Japanese (ja)
Inventor
貴央 大浅
正蔵 菊地
稜太 工藤
由孝 小野寺
健浩 小松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority to US18/724,469 priority Critical patent/US20250333930A1/en
Priority to EP23760089.5A priority patent/EP4442914A4/fr
Priority to CN202380016296.3A priority patent/CN118510968A/zh
Publication of WO2023163090A1 publication Critical patent/WO2023163090A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • 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
    • 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
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units

Definitions

  • the technology disclosed in this specification relates to a control system, a loading machine, and a control method.
  • the loading machine excavates the excavation target with the working machine and then loads the excavated material onto the transport vehicle.
  • the loading machine preferably weighs and loads the excavated material to provide an optimum weight for the haul vehicle.
  • the technology disclosed in this specification aims to optimize the loading operation by the loading machine.
  • a loading machine includes a work machine having a bucket.
  • the control system comprises a controller.
  • the controller calculates the tractive force of the loader during an excavation operation in which the bucket excavates an excavation target.
  • the controller obtains a bucket angle indicating the angle of the bucket with respect to a horizontal plane during the digging operation.
  • the controller calculates the weight of the excavated object held by the bucket based on the tractive force, the bucket angle, and the bucket data indicating the shape and dimensions of the bucket.
  • the loading operation by the loading machine is optimized.
  • FIG. 1 is a side view showing a loading machine according to an embodiment
  • FIG. FIG. 2 is a configuration diagram showing the loading machine according to the embodiment.
  • FIG. 3 is a perspective view showing the bucket according to the embodiment.
  • FIG. 4 is a side view schematically showing the bucket according to the embodiment.
  • FIG. 5 is a diagram explaining the operation of the working machine according to the embodiment.
  • FIG. 6 is a diagram explaining the operation of the loading machine according to the embodiment.
  • FIG. 7 is a functional block diagram showing the control system of the loading machine according to the embodiment.
  • FIG. 8 is a block diagram showing the control device of the loading machine according to the embodiment.
  • FIG. 9 is a diagram illustrating the state of excavated material held by the bucket according to the embodiment.
  • FIG. 10 is a schematic diagram illustrating a method of calculating the weight of an excavated object based on the first calculation method according to the embodiment.
  • FIG. 11 is a diagram illustrating the state of excavated material held by the bucket according to the embodiment.
  • FIG. 12 is a diagram showing the relationship between traction force and soil pressure according to the embodiment.
  • FIG. 13 is a schematic diagram illustrating a method of calculating the weight of an excavated object based on the second calculation method according to the embodiment.
  • FIG. 14 is a diagram illustrating the angle of repose and ground angle according to the embodiment.
  • FIG. 15 is a diagram showing the relationship between the ground angle and the angle of repose according to the embodiment.
  • FIG. 16 is a diagram illustrating the angle of repose of the excavated material held by the bucket according to the embodiment.
  • FIG. 17 is a flowchart illustrating a method of calculating an angle of repose according to the embodiment;
  • FIG. 18 is a flow chart showing an excavation method according to the embodiment.
  • a local coordinate system is set in the loading machine 1, and the positional relationship of each part will be described with reference to the local coordinate system.
  • the first axis extending in the left-right direction (vehicle width direction) of the loading machine 1 is defined as the X-axis
  • the second axis extending in the front-rear direction of the loading machine 1 is defined as the Y-axis
  • the loading machine 1 Let the third axis extending in the vertical direction be the Z-axis.
  • the X-axis and the Y-axis are orthogonal.
  • the Y-axis and the Z-axis are orthogonal.
  • the Z-axis and the X-axis are orthogonal.
  • the +X direction is to the right and the -X direction is to the left.
  • the +Y direction is the forward direction and the -Y direction is the backward direction.
  • the +Z direction is upward and the -Z direction is downward.
  • FIG. 1 is a side view showing a loading machine 1 according to an embodiment.
  • the loading machine 1 is for example a wheel loader.
  • the loading machine 1 will be called a wheel loader 1 as appropriate.
  • the wheel loader 1 includes a vehicle body 2, a cab 4, wheels 5, and a work implement 6.
  • the vehicle body 2 supports the working machine 6.
  • the cab 4 is supported by the vehicle body 2 .
  • the cab 4 is arranged above the vehicle body 2 .
  • Wheels 5 support vehicle body 2 .
  • Wheels 5 include front wheels 5F and rear wheels 5R.
  • the front wheel 5F is rotatable around the rotation axis CXf.
  • the rear wheel 5R is rotatable around the rotation axis CXr.
  • the rotation axis CXf of the front wheels 5F and the rotation axis CXr of the rear wheels 5R are parallel.
  • the X-axis is parallel to the rotation axis CXf of the front wheels 5F.
  • the working machine 6 performs a predetermined work.
  • the working machine 6 is supported by the vehicle body 2 .
  • the working machine 6 is connected to the vehicle body 2 .
  • the work implement 6 has a boom 12 , a bucket 13 , a bell crank 14 , a bucket link 15 , a lift cylinder 18 and a bucket cylinder 19 .
  • the base end of the boom 12 is rotatably connected to the vehicle body 2.
  • the boom 12 rotates about the rotation axis AXa with respect to the vehicle body 2 .
  • a bracket 16 is fixed to the middle portion of the boom 12 .
  • the base end of the bucket 13 is rotatably connected to the tip of the boom 12 .
  • the bucket 13 rotates about the rotation axis AXb with respect to the boom 12 .
  • the bucket 13 is arranged forward of the front wheel 5F.
  • a bracket 17 is fixed to a portion of the bucket 13 .
  • An intermediate portion of the bellcrank 14 is rotatably connected to the bracket 16 .
  • the bellcrank 14 rotates about the rotation axis AXc with respect to the bracket 16 .
  • a lower end portion of the bell crank 14 is rotatably connected to a base end portion of the bucket link 15 .
  • the tip of the bucket link 15 is rotatably connected to the bracket 17 .
  • the bucket link 15 rotates about the rotation axis AXd with respect to the bracket 17 .
  • Bellcrank 14 is connected to bucket 13 via bucket link 15 .
  • the lift cylinder 18 operates the boom 12.
  • a proximal end of the lift cylinder 18 is connected to the vehicle body 2 .
  • a tip of the lift cylinder 18 is connected to the boom 12 .
  • the boom 12 rotates about the rotation axis AXe with respect to the lift cylinder 18 .
  • the bucket cylinder 19 operates the bucket 13 .
  • a base end portion of the bucket cylinder 19 is connected to the vehicle body 2 .
  • a tip portion of the bucket cylinder 19 is connected to an upper end portion of the bell crank 14 .
  • the bell crank 14 rotates with respect to the bucket cylinder 19 about the rotation axis AXf.
  • FIG. 2 is a configuration diagram showing the loading machine 1 according to the embodiment.
  • the loading machine 1 includes a power source 3 , a power take off 8 (PTO: Power Take Off), a power transmission device 9 , a hydraulic pump 20 , a control valve 21 and a controller 50 .
  • PTO Power Take Off
  • the power source 3 generates driving force for operating the wheel loader 1.
  • the power source 3 is, for example, a diesel engine.
  • the power take-off 8 distributes the driving force from the power source 3 to the power transmission device 9 and the hydraulic pump 20. A driving force of the power source 3 is transmitted to the power transmission device 9 and the hydraulic pump 20 via the power take-off 8 .
  • the power transmission device 9 has an input shaft to which the driving force from the power source 3 is input, and an output shaft that outputs the driving force input to the input shaft after changing the speed.
  • An input shaft of the power transmission device 9 is connected to the power take-off 8 .
  • the output shaft of the power transmission device 9 is connected to each of the front wheels 5F and the rear wheels 5R.
  • the driving force of the power source 3 is transmitted via the power transmission device 9 to the front wheels 5F and the rear wheels 5R.
  • the power transmission device 9 may include an axle device or a differential device.
  • the hydraulic pump 20 discharges hydraulic oil.
  • the hydraulic pump 20 is a variable displacement hydraulic pump.
  • the hydraulic pump 20 is driven based on the driving force of the power source 3 .
  • Hydraulic oil discharged from the hydraulic pump 20 is supplied to the lift cylinder 18 and the bucket cylinder 19 via the control valve 21 .
  • the control valve 21 controls the flow rate and direction of hydraulic oil supplied to the lift cylinder 18 and the bucket cylinder 19, respectively.
  • the working machine 6 is operated by hydraulic oil supplied from the hydraulic pump 20 via the control valve 21 .
  • the controller 50 controls the wheel loader 1.
  • Controller 50 includes a computer system.
  • FIG. 3 is a perspective view showing the bucket 13 according to the embodiment.
  • FIG. 4 is a side view schematically showing the bucket 13 according to the embodiment.
  • Bucket 13 is a working member that excavates an object to be excavated. Bucket 13 holds excavated material 300 .
  • the excavated object 300 is an excavated object excavated and held by the bucket 13 .
  • the bucket 13 includes a bottom plate portion 131 , a back plate portion 132 , an upper plate portion 133 , a right plate portion 134 and a left plate portion 135 .
  • a tip portion of the bottom plate portion 131 is a blade tip portion 13A.
  • a cutting edge or blade is attached to the cutting edge portion 13A.
  • a tip portion of the upper plate portion 133 is a spill guard end portion 13B.
  • the tip of the right plate portion 134 is the right end portion 13C.
  • a tip portion of the left plate portion 135 is a left end portion 13D.
  • the blade tip portion 13A extends in the left-right direction.
  • the spill guard end 13B extends in the left-right direction.
  • the right end portion 13C extends in the vertical direction or the front-rear direction.
  • the left end portion 13D extends vertically or longitudinally.
  • the blade tip portion 13A and the spill guard end portion 13B face each other.
  • the right end portion 13C and the left end portion 13D face each other.
  • the blade tip portion 13A and the spill guard end portion 13B are parallel.
  • the right end portion 13C and the left end portion 13D are parallel.
  • Opening 136 of the bucket 13 is defined between the blade tip 13A, the spill guard end 13B, the right end 13C and the left end 13D. Opening 136 is defined by blade tip 13A, spill guard edge 13B, right edge 13C, and left edge 13D.
  • the bucket length L is the dimension of the opening 136 in the vertical direction or the front-rear direction, that is, the dimension of the straight line connecting the blade tip 13A and the spill guard end 13B on the YZ plane.
  • the width of the opening 136 in the horizontal direction is defined as a bucket width B.
  • the cross-sectional area of the bucket 13 parallel to the YZ plane be a bucket cross-sectional area Abk.
  • the angle between the inner surface of the bottom plate portion 131 and a straight line connecting the blade tip portion 13A and the spill guard end portion 13B in the YZ plane is defined as a blade tip side opening angle ⁇ 3.
  • An angle formed between a plane parallel to the inner surface of the bottom plate portion 131 and the inner surface of the upper plate portion 133 in the YZ plane is defined as an upper opening angle ⁇ sp.
  • FIG. 5 is a diagram explaining the operation of the working machine 6 according to the embodiment.
  • the work machine 6 is a front-loading work machine in which the opening 136 of the bucket 13 faces forward during excavation work.
  • the operation of raising the boom 12 refers to the operation of rotating the boom 12 about the rotation axis AXa so that the tip of the boom 12 is separated from the ground 200 .
  • the boom 12 is raised by extending the lift cylinder 18 .
  • the operation of lowering the boom 12 refers to the operation of rotating the boom 12 around the rotation axis AXa so that the tip of the boom 12 approaches the ground 200 .
  • the boom 12 is lowered by retracting the lift cylinder 18 .
  • the tilting operation of the bucket 13 refers to the operation of rotating the bucket 13 around the rotation axis AXb so that the blade tip portion 13A of the bucket 13 is separated from the ground 200 .
  • the bellcrank 14 pivots such that the upper end of the bellcrank 14 moves forward and the lower end of the bellcrank 14 moves rearward.
  • the bucket 13 is pulled rearward by the bucket link 15 and tilts.
  • the object to be excavated is scooped up by the bucket 13 and the excavated object 300 is held by the bucket 13 .
  • the dumping operation of the bucket 13 refers to the operation of rotating the bucket 13 around the rotation axis AXb so that the blade tip 13A of the bucket 13 approaches the ground 200.
  • the bellcrank 14 pivots such that the upper end of the bellcrank 14 moves rearward and the lower end of the bellcrank 14 moves forward.
  • the bucket 13 is pushed forward by the bucket link 15 and dumps.
  • the excavated material 300 held in the bucket 13 is discharged from the bucket 13 by the dump operation of the bucket 13 .
  • FIG. 6 is a diagram explaining the operation of the wheel loader 1 according to the embodiment.
  • the wheel loader 1 performs predetermined work on a work target at a work site.
  • Work targets include excavation targets and loading targets.
  • Predetermined operations include excavation operations and loading operations.
  • Excavation targets are, for example, natural grounds, rocky mountains, coal, feed, or wall surfaces.
  • the ground is a mountain made up of earth and sand placed on the ground 200 .
  • a rocky mountain is a mountain made up of rocks or stones placed on the ground 200 .
  • the excavation target is natural ground 210 .
  • Excavated material 300 is rock 210 excavated and held in bucket 13 .
  • a loading target is, for example, a transport vehicle, a predetermined area of a work site, a hopper, a belt conveyor, or a crusher.
  • the object to be loaded is the dump body 230 of the transport vehicle 220 capable of traveling on the ground 200 .
  • the transport vehicle 220 is, for example, a dump truck.
  • the wheel loader 1 performs an excavation work of excavating the natural ground 210 with the bucket 13 .
  • the wheel loader 1 excavates the natural ground 210 with the bucket 13 while moving forward toward the natural ground 210 .
  • the wheel loader 1 performs a loading operation of loading the excavated object 300 held in the bucket 13 by the excavation operation onto the dump body 230 .
  • the loading work is a concept including the discharge work of discharging the excavated object 300 .
  • the wheel loader 1 advances toward the ground 210 with the excavated material 300 not held by the bucket 13, as indicated by the arrow M1 in FIG.
  • the wheel loader 1 implements excavation work by tilting the bucket 13 inserted into the ground 210 .
  • the ground 210 is excavated by the bucket 13 and the excavated material 300 is held by the bucket 13 .
  • the wheel loader 1 moves forward while turning toward the transport vehicle 220 as indicated by the arrow M3 in FIG. While moving forward toward the transport vehicle 220 , the wheel loader 1 raises the boom 12 so that the bucket 13 is arranged above the dump body 230 . After the boom 12 is raised and the bucket 13 is arranged above the dump body 230, the wheel loader 1 carries out the loading operation by causing the bucket 13 to dump. Due to the dumping operation of the bucket 13 , the excavated material 300 held by the bucket 13 is discharged from the bucket 13 and loaded onto the dump body 230 .
  • the wheel loader 1 moves away from the transport vehicle 220 as indicated by the arrow M4 in FIG. Move backward while turning.
  • the wheel loader 1 repeats the above operation until the dump body 230 of the transport vehicle 220 is fully loaded with excavated objects 300 or until the ground 210 is completely excavated.
  • FIG. 7 is a functional block diagram showing the control system 40 of the wheel loader 1 according to the embodiment.
  • FIG. 8 is a block diagram showing the controller 50 of the wheel loader 1 according to the embodiment.
  • the wheel loader 1 includes a control system 40.
  • the control system 40 includes a control valve 21, an operation device 22, an operator command device 23, an inclination sensor 31, a boom angle sensor 32, a bucket angle sensor 33, a weight sensor 34, a rotation speed sensor 35, a pump It has a pressure sensor 37 , a pump capacity sensor 38 and a controller 50 .
  • the operating device 22 is arranged inside the cab 4 .
  • the operating device 22 is operated by an operator.
  • the operation device 22 generates operation signals for operating the power source 3, the power transmission device 9, and the work implement 6, respectively.
  • the controller 50 controls the power source 3 and the power transmission device 9 based on the operation signal generated by the operating device 22 .
  • Controller 50 controls control valve 21 based on the operation signal generated by operation device 22 .
  • the operator command device 23 is arranged inside the cab 4 .
  • the operator command device 23 includes, for example, switch buttons.
  • the operator command device 23 is operated by an operator.
  • the operator command device 23 generates command signals for calculating a repose angle ⁇ r, which will be described later.
  • the controller 50 calculates the angle of repose ⁇ r based on the operation signal generated by the operator command device 23 .
  • the tilt sensor 31 detects the tilt of the vehicle body 2 . More specifically, the tilt sensor 31 detects a vehicle body tilt angle ⁇ a indicating the tilt angle of the vehicle body 2 with respect to the horizontal plane.
  • the tilt sensor 31 is arranged on at least part of the vehicle body 2 .
  • the tilt sensor 31 is, for example, an inertial measurement unit (IMU: Inertial Measurement Unit). Detection data of the vehicle body tilt angle ⁇ a detected by the tilt sensor 31 is transmitted to the controller 50 .
  • IMU Inertial Measurement Unit
  • the boom angle sensor 32 detects the angle of the boom 12. More specifically, the boom angle sensor 32 detects a boom angle ⁇ b that indicates the angle of the boom 12 with respect to the vehicle body 2 in the local coordinate system.
  • the boom angle sensor 32 is an angle sensor arranged, for example, at a connecting portion between the vehicle body 2 and the boom 12 .
  • the boom angle ⁇ b is an angle formed by a line connecting the rotation axis AXa and the rotation axis AXb and a line connecting the rotation axis CXf and the rotation axis CXr. Detection data of the boom angle ⁇ b detected by the boom angle sensor 32 is transmitted to the controller 50 .
  • the boom angle sensor 32 may be a stroke sensor that detects the stroke of the lift cylinder 18 .
  • the bucket angle sensor 33 detects the angle of the bucket 13. More specifically, the bucket angle sensor 33 detects a bellcrank angle ⁇ c that indicates the angle of the bellcrank 14 with respect to the boom 12 in the local coordinate system.
  • the bucket angle sensor 33 is an angle sensor arranged, for example, at a connecting portion between the boom 12 and the bellcrank 14 .
  • the bell crank angle ⁇ c is an angle formed by a line connecting the rotation axis AXc and the rotation axis AXf and a line connecting the rotation axis AXa and the rotation axis AXb.
  • the angle of the bucket 13 with respect to the boom 12 in the local coordinate system and the bell crank angle ⁇ c have a one-to-one correspondence.
  • Bucket angle sensor 33 may be a stroke sensor that detects the stroke of bucket cylinder 19 .
  • the weight sensor 34 detects the weight Wa of the excavation target 300 held by the bucket 13 .
  • the weight sensor 34 is, for example, a pressure sensor that detects the pressure of hydraulic fluid in the lift cylinder 18 or a pressure sensor that detects the pressure of hydraulic fluid in the bucket cylinder 19 .
  • the load applied to the work implement 6 changes depending on whether the excavated object 300 is held by the bucket 13 or not.
  • the weight sensor 34 detects the weight Wa of the excavated object 300 held by the bucket 13 by detecting changes in the load applied to the work implement 6 . Detection data of the weight Wa of the excavated object 300 detected by the weight sensor 34 is transmitted to the controller 50 .
  • the weight sensor 34 may be a load cell arranged on at least a part of the working machine 6 .
  • the weight sensor 34 may directly detect the weight Wa of the excavated object 300 .
  • the rotation speed sensor 35 detects the rotation speed of the power source 3 .
  • the pump pressure sensor 37 detects a discharge pressure that indicates the pressure of hydraulic oil discharged from the hydraulic pump 20 .
  • a pump displacement sensor 38 detects the displacement of the hydraulic pump 20 based on the swash plate angle of the hydraulic pump 20 .
  • the controller 50 includes a computer system.
  • the controller 50 outputs control commands for controlling the wheel loader 1 .
  • the controller 50 has a processor 51, a main memory 52, a storage 53, and an interface 54.
  • Processor 51 performs arithmetic processing of the operation of work implement 6 by executing a computer program.
  • the processor 51 is exemplified by a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).
  • the main memory 52 is, for example, non-volatile memory or volatile memory.
  • Non-volatile memory is, for example, ROM (Read Only Memory).
  • Volatile memory is, for example, RAM (Random Access Memory).
  • the storage 53 is a non-temporary tangible storage medium.
  • the storage 53 is, for example, a magnetic disk, magneto-optical disk, or semiconductor memory.
  • the storage 53 may be an internal medium directly connected to the bus of the controller 50 or an external medium connected to the controller 50 via the interface 54 or communication line.
  • Storage 53 stores a computer program for controlling work machine 6 .
  • the controller 50 includes a characteristic storage unit 61, a bucket data storage unit 62, a detection data acquisition unit 71, a bucket angle calculation unit 72, a tractive force calculation unit 73, a weight calculation unit 81, It has a near side cargo angle determination unit 82 , a repose angle calculation unit 91 , and a working machine control unit 100 .
  • the controller 50 includes a control valve 21, an operating device 22, an operator command device 23, an inclination sensor 31, a boom angle sensor 32, a bucket angle sensor 33, a weight sensor 34, a rotation speed sensor 35, a pump pressure sensor 37, and a pump capacity sensor 38. communicate with each of the
  • the characteristic storage unit 61 stores characteristic data of an excavation target.
  • the characteristic data of the excavation target includes the ground angle ⁇ g indicating the angle between the ground surface 200 and the surface of the ground 210, the angle of repose ⁇ r of the earth and sand forming the ground 210, the density ⁇ of the ground 210, and the density ⁇ of the ground 210. Includes soil pressure coefficient K.
  • the characteristic storage unit 61 also stores correlation data indicating the relationship between the ground angle ⁇ g and the angle of repose ⁇ r.
  • Bucket data storage unit 62 stores bucket data indicating the shape or dimensions of the bucket 13 .
  • Bucket data includes bucket length L, bucket width B, cutting edge side opening angle ⁇ 3, upper side opening angle ⁇ sp, and bucket cross-sectional area Abk.
  • Bucket data is known data derived from specification data or design data.
  • the detection data acquisition unit 71 acquires detection data from each of the tilt sensor 31 , boom angle sensor 32 , bucket angle sensor 33 , weight sensor 34 , rotation speed sensor 35 , pump pressure sensor 37 and pump capacity sensor 38 .
  • the detection data acquisition unit 71 acquires the vehicle body tilt angle ⁇ a from the tilt sensor 31 .
  • the detected data acquisition unit 71 acquires the boom angle ⁇ b from the boom angle sensor 32 .
  • a detection data acquisition unit 71 acquires the bell crank angle ⁇ c from the bucket angle sensor 33 .
  • the detection data acquisition unit 71 acquires the weight Wa of the excavated object 300 from the weight sensor 34 .
  • the detection data acquisition unit 71 acquires the rotation speed of the power source 3 from the rotation speed sensor 35 .
  • the detection data acquisition unit 71 acquires the discharge pressure of the hydraulic pump 20 from the pump pressure sensor 37 .
  • a detection data acquisition unit 71 acquires the capacity of the hydraulic pump 20 from the pump capacity sensor 38 .
  • the bucket angle calculator 72 calculates a bucket angle ⁇ bk that indicates the angle of the bucket 13 with respect to the horizontal plane.
  • the bucket angle calculator 72 calculates the bucket angle ⁇ bk based on the angle detection data of the vehicle body 2 and the angle detection data of the work implement 6 .
  • the detection data of the angle of the work implement 6 includes the detection data of the boom angle ⁇ b indicating the angle of the boom 12 in the local coordinate system detected by the boom angle sensor 32, and the detection data of the bell crank in the local coordinate system detected by the bucket angle sensor 33. and detection data of the bell crank angle ⁇ c indicating the angle of 14.
  • the bucket angle calculator 72 can calculate the bucket angle ⁇ bk based on the detection data of the vehicle body tilt angle ⁇ a, the detection data of the boom angle ⁇ b, and the detection data of the bell crank angle ⁇ c.
  • the tractive force calculation unit 73 calculates the tractive force F of the wheel loader 1 based on the detection data acquired by the detection data acquisition unit 71 .
  • the traction force calculator 73 calculates the traction force F during the excavation work of excavating the ground 210 with the bucket 13 .
  • the tractive force calculator 73 calculates the tractive force F according to the following procedure.
  • the tractive force calculator 73 calculates the output torque of the power source 3 using the detection data of the rotation speed sensor 35 .
  • the tractive force calculator 73 also calculates the load torque of the hydraulic pump 20 based on the detection data of the pump pressure sensor 37 and the detection data of the pump capacity sensor 38 .
  • the tractive force calculation unit 73 multiplies the running torque obtained by subtracting the load torque from the output torque by the speed reduction ratio and the torque efficiency of the power transmission device 9, and divides this by the effective diameter of the wheel to obtain the tractive force F Calculate
  • the tractive force calculator 73 calculates the tractive force F according to the following procedure.
  • the tractive force calculator 73 calculates the running torque by multiplying the square of the rotational speed of the power source 3 divided by 1000 rpm by the primary torque coefficient and the torque ratio of the torque converter.
  • the primary torque coefficient and torque ratio are characteristic values determined by the input/output rotation ratio of the torque converter.
  • the tractive force calculator 73 calculates the tractive force F by multiplying the running torque by the speed reduction ratio and the torque efficiency of the power transmission device 9 and dividing this by the effective diameter of the wheel 5 .
  • the weight calculator 81 calculates the weight Wa of the excavated object 300 that is held by the bucket 13 and is the excavation target. The weight calculator 81 calculates the weight Wa based on the first calculation method when the inside of the bucket 13 is filled with the excavated object 300 . The weight calculator 81 calculates the weight Wa based on the second calculation method when the inside of the bucket 13 is partially filled with the excavated material 300 and the gap 340 is formed in the inside of the bucket 13 . calculate.
  • FIG. 9 is a diagram illustrating the state of the excavated object 300 held by the bucket 13 according to the embodiment.
  • FIG. 9 shows the inside of bucket 13 filled with excavated material 300 with a portion of excavated material 300 located outside of bucket 13 relative to opening 136 .
  • the excavated object 300 arranged outside the bucket 13 relative to the opening 136 is appropriately referred to as an exposed portion 330 of the excavated object 300 .
  • the surface of the excavation 300 includes a first surface 310 and a second surface 320 .
  • the second surface 320 is positioned forward of the first surface 310 .
  • the first surface 310 slopes upward toward the front.
  • the second surface 320 slopes downward toward the front.
  • the rear end of the first surface 310 is connected to the spill guard edge 13B.
  • the front end of the second surface 320 is connected to the blade tip 13A.
  • a rear end of the second surface 320 is joined to a front end of the first surface 310 .
  • the first surface 310, the second surface 320, and the right end portion 13C (left end portion 13D) substantially form a triangle.
  • the angle of the first surface 310 with respect to the horizontal plane is arbitrarily referred to as the front side loading angle ⁇ 1
  • the angle of the second surface 320 with respect to the horizontal plane is arbitrarily referred to as the cutting edge side loading angle ⁇ 2.
  • the front side cargo angle ⁇ 1 changes based on the bucket angle ⁇ bk during excavation. As the bucket angle ⁇ bk increases, the front cargo angle ⁇ 1 increases. As the bucket angle ⁇ bk becomes smaller, the front cargo angle ⁇ 1 becomes smaller.
  • the cutting edge side cargo angle ⁇ 2 indicates the repose angle ⁇ r (stop repose angle) of the excavated object 300 . Even if the bucket angle ⁇ bk changes during excavation, the cutting edge side cargo angle ⁇ 2 does not substantially change because it is formed when the bucket 13 is removed after excavation.
  • the cutting edge side cargo angle ⁇ 2 is uniquely determined based on the properties of the excavated object 300 (ground 210). When the properties of the excavated object 300 are constant, even if the bucket angle ⁇ bk during excavation changes, the cutting edge side cargo angle ⁇ 2 does not substantially change.
  • the weight calculator 81 calculates the weight Wa of the excavated object 300 based on the first calculation method.
  • the weight calculator 81 calculates the weight of the excavated object 300 held by the bucket 13 based on the near side cargo angle ⁇ 1, the cutting edge side cargo angle ⁇ 2, the bucket angle ⁇ bk, the density ⁇ of the excavated object 300, and the bucket data. Calculate the weight Wa.
  • FIG. 10 is a schematic diagram explaining a method of calculating the weight Wa of the excavated object 300 based on the first calculation method according to the embodiment.
  • the exposed portion cross-sectional area A1 indicating the cross-sectional area of the exposed portion 330 perpendicular to the rotation axis AXb is calculated based on the following formula (1).
  • a bucket cross-sectional area Abk which indicates the cross-sectional area of the bucket 13 perpendicular to the rotation axis AXb, is stored in the bucket data storage unit 62 .
  • the volume Va of the excavated object 300 is calculated based on the following formula (3).
  • the density ⁇ of the excavated object 300 is stored in the characteristic storage unit 61.
  • the weight Wa of the excavated object 300 in the state shown in FIG. 9 is calculated based on the following equation (4).
  • FIG. 11 is a diagram illustrating the state of excavated material 300 held by bucket 13 according to the embodiment.
  • FIG. 11 shows a state in which a portion of the inside of the bucket 13 is filled with excavated material 300 and a void portion 340 is formed in a portion of the inside of the bucket 13 .
  • the weight calculator 81 calculates the weight Wa of the excavated object 300 based on the second calculation method.
  • the weight calculator 81 calculates the weight Wa of the excavated object 300 held by the bucket 13 based on the tractive force F, the bucket angle ⁇ bk, the density ⁇ of the excavated object 300, and the bucket data.
  • FIG. 12 is a diagram showing the relationship between the traction force F and the earth pressure P according to the embodiment.
  • the amount of insertion of the bucket 13 into the ground 210 is determined based on the tractive force F.
  • the bucket 13 receives an earth pressure P representing excavation resistance from the natural ground 210 .
  • the cargo height H When the height of the object to be excavated from the tip of the blade 13A inside the bucket 13 during excavation work is defined as the cargo height H, the relationship between the soil pressure P and the cargo height H is expressed by Coulomb's earth pressure equation The relationship of the following equation (5) is established.
  • K is the soil pressure coefficient.
  • a state in which the wheel loader 1 cannot move forward and stops when the bucket 13 is inserted into the ground 210 is a state in which the tractive force F and the earth pressure P are balanced.
  • the following formula (6) holds.
  • the weight calculation unit 81 calculates the cargo height H based on the tractive force F.
  • the cargo height H is calculated based on the tractive force F, the density ⁇ , and the soil pressure coefficient K, as shown in the following equation (7).
  • the traction force F is calculated by the traction force calculation unit 73.
  • the density ⁇ and the earth pressure coefficient K are stored in the characteristic storage section 61 . Therefore, the weight calculator 81 can calculate the cargo height H based on the tractive force F, the density ⁇ , and the soil pressure coefficient K.
  • the boundary between the inner surface of the bucket 13 and the upper end of the excavated object 300 is defined as a cargo contact point 13E, and the distance between the cargo contact point 13E and the blade tip 13A in the horizontal direction (front-rear direction) is defined as a cargo depth x.
  • the cargo depth x can be calculated based on the cargo height H, the bucket angle ⁇ bk, and bucket data.
  • the weight calculation unit 81 calculates the weight Wa of the excavated object 300 based on the cargo height H calculated based on the tractive force F and the earth pressure coefficient K, the bucket angle ⁇ bk, and the bucket data.
  • FIG. 13 is a schematic diagram illustrating a method of calculating the weight Wa of the excavated object 300 based on the second calculation method according to the embodiment.
  • a gap section area A2 and a cargo shape section section area A3 are defined.
  • the cross-sectional area A2 of the gap is The cross-sectional area of the void space perpendicular to the axis AXb is shown.
  • the cargo shape portion cross-sectional area A3 indicates the cross-sectional area of the cargo shape space perpendicular to the rotation axis AXb.
  • the void cross-sectional area A2 is calculated based on the following formula (8). As shown in equation (8), the weight calculator 81 calculates the gap cross-sectional area A2 based on the cargo height H, the bucket angle ⁇ bk, and the bucket data.
  • the load-shaped portion cross-sectional area A3 is calculated based on the following formula (9). As shown in the formula (9), the weight calculator 81 calculates the load shape portion cross-sectional area A3 based on the load height H, the front load angle ⁇ 1, and the cutting edge load angle ⁇ 2.
  • the cargo cross-sectional area Aa is calculated based on the following formula (10).
  • the weight calculator 81 can calculate the weight Wa based on the formulas (3) and (4).
  • the near side cargo angle determination unit 82 determines the near side cargo angle ⁇ 1 to be a predetermined angle.
  • the predetermined angle includes at least one of the ground angle ⁇ g, the sum of the ground angle ⁇ g and the bucket angle increment ⁇ bk, and the repose angle ⁇ r.
  • FIG. 14 is a diagram illustrating the angle of repose ⁇ r and ground angle ⁇ g according to the embodiment.
  • the repose angle ⁇ r is the angle of the slope of the earth and sand with respect to the horizontal plane when the earth and sand are piled up and the shape of the earth and sand is kept stable without collapsing.
  • the angle of repose ⁇ r is a physical property value that is uniquely determined based on the properties of earth and sand.
  • the ground angle ⁇ g is the angle between the ground 200 and the surface of the ground 210 composed of earth and sand placed on the ground 200 .
  • the ground rock angle ⁇ g is approximately equal to the angle of repose ⁇ r, it may change based on the formation conditions of the rock ground 210 .
  • the conditions for forming the ground 210 include the drop height and the amount of soil when the earth and sand are dropped onto the ground 200 to form the ground 210 .
  • the angle of repose ⁇ r is the inclination angle of the surface of the earth and sand generated by gently dropping the earth and sand on the horizontal plane
  • the ground angle ⁇ g is the inclination angle of the surface of the earth and sand generated when the earth and sand are dropped on the horizontal plane. It is the slope of the surface of the rock 210 that may change based on impacts and the volume of the rock 210 .
  • FIG. 15 is a diagram showing the relationship between the ground angle ⁇ g and the angle of repose ⁇ r according to the embodiment.
  • the horizontal axis indicates the angle of repose ⁇ r
  • the vertical axis indicates the ground angle ⁇ g.
  • the angle of repose ⁇ r of the earth and sand is substantially equal to the ground angle ⁇ g of the ground 210 composed of the earth and sand.
  • the near side cargo angle determining section 82 can calculate the ground angle ⁇ g based on, for example, the repose angle ⁇ r and the correlation data.
  • ground angle ⁇ g may be actually measured and stored in the characteristic storage unit 61 .
  • the angle of repose calculator 91 calculates the angle of repose ⁇ r of earth and sand based on the excavated object 300 held in the bucket 13 .
  • the repose angle ⁇ r calculated by the repose angle calculator 91 is stored in the characteristic storage unit 61 .
  • the angle of repose ⁇ r is a physical property value of earth and sand determined based on the properties of the earth and sand. For example, if the properties of earth and sand change due to weather or the like, the angle of repose ⁇ r may change. For example, there is a possibility that the angle of repose ⁇ r differs between fine weather and rainy weather.
  • the repose angle calculator 91 calculates the repose angle ⁇ r and stores it in the characteristic storage unit 61 .
  • the repose angle calculation unit 91 calculates the bucket data stored in the bucket data storage unit 62, the bucket angle ⁇ bk calculated by the bucket angle calculation unit 72, the weight Wa of the excavated object 300 detected by the weight sensor 34, The angle of repose ⁇ r is calculated based on the density ⁇ of the excavated object 300 stored in the characteristic storage unit 61 .
  • FIG. 16 is a diagram illustrating the angle of repose ⁇ r of the excavated object 300 held by the bucket 13 according to the embodiment.
  • FIG. 16 when the bucket 13 is fully loaded with the excavated material 300 and the bucket 13 is dumped and the opening 136 of the bucket 13 is tilted forward, a portion of the excavated material 300 is partially displaced by the action of gravity. It is discharged from the bucket 13.
  • the surface of the excavated material 300 forms an inclination with the blade tip portion 13A as a base point, as shown in FIG.
  • the angle of repose ⁇ r is the angle with respect to the horizontal plane of the inclination at which the surface of the excavated object 300 stays without slipping down from the blade tip portion 13A.
  • the angle of repose ⁇ r is the angle with respect to the horizontal plane of the inclination formed by the surface of the excavated object 300 exposed at the opening 136 of the bucket 13 and with the blade tip 13A as the base point.
  • the method for calculating the angle of repose ⁇ r will be explained in detail.
  • part of the excavated material 300 held in the bucket 13 is discharged as shown in FIG.
  • the surface of the excavated object 300 does not slide down and stays in a state in which the inclination is maintained, in other words, the surface of the excavated object 300 held by the bucket 13 in the YZ plane.
  • the inclination is maintained at the repose angle ⁇ r.
  • the unfilled portion cross-sectional area A4 of the unfilled portion 350 of the bucket 13 in this state is determined by the bucket length L stored in the bucket data storage unit 62, the cutting edge side opening angle ⁇ 3, and when the bucket 13 is horizontal (hereinafter referred to as “ is calculated based on the following equation (11) using the upper opening angle ⁇ sp of "when the bucket is horizontal”.
  • the cargo cross-sectional area Aa in this state is obtained from the bucket cross-sectional area Abk stored in the bucket data storage unit 62 and the unfilled portion cross-sectional area A4 of the unfilled portion 350 of the bucket 13 based on the following equation (12): Calculated.
  • the volume Va of the excavated object 300 is calculated based on the formula (3), and the weight Wa of the excavated object 300 is calculated based on the formula (4).
  • the repose angle calculator 91 calculates the repose angle ⁇ r based on the formula (13).
  • the work implement control unit 100 controls the posture of the work implement 6 so that the weight Wa calculated by the weight calculation unit 81 becomes the target weight Wr.
  • the attitude of work implement 6 includes bucket angle ⁇ bk that indicates the angle of bucket 13 with respect to the horizontal plane.
  • the work implement control unit 100 controls at least one of the lift cylinder 18 and the bucket cylinder 19 to adjust the bucket angle ⁇ bk during excavation work.
  • the front cargo angle ⁇ 1 is adjusted.
  • the weight Wa of the excavated object 300 is adjusted.
  • Work implement control unit 100 controls bucket angle ⁇ bk indicating the attitude of bucket 13 so that weight Wa calculated by weight calculation unit 81 becomes target weight Wr.
  • the work implement control unit 100 removes the bucket 13 from the ground 210 while maintaining the front side cargo angle ⁇ 1 and the bucket angle ⁇ bk when the weight Wa reaches the target weight Wr. This reduces the difference between the weight Wa of the excavated object 300 held by the bucket 13 and the target weight Wr.
  • FIG. 17 is a flowchart showing a method of calculating the angle of repose ⁇ r according to the embodiment.
  • the operator causes the controller 50 to start the calculation processing of the angle of repose ⁇ r before the first excavation work of the ground 210 .
  • the operator excavates the ground 210 with the bucket 13 and holds the excavated object 300 (step SA1). More specifically, after excavating the ground 210 so that the inside of the bucket 13 is fully loaded with the excavated material 300 as shown in FIG. The bucket 13 is tilted.
  • step SA2 the operator discharges part of the excavated material 300 from the bucket 13 (step SA2). More specifically, the operator dumps the bucket 13 from a state in which the bucket 13 is fully loaded with the excavated material 300 to such an extent that the excavated material 300 is not completely discharged from the bucket 13 .
  • the operator for example, performs a dump operation between the tilt operation position of step SA1 and the bucket angle ⁇ bk greater than 0 degree.
  • the surface of the excavated material 300 held by the bucket 13 is brought into a predetermined position without slipping with the blade tip portion 13A as a base point. Maintain the incline that stays.
  • the angle of the surface of the excavation 300 of the bucket 13 maintains the angle of repose ⁇ r.
  • step SA3 the operator sends to the controller 50 a command to start the calculation process of the repose angle ⁇ r (step SA3). More specifically, when the operator operates the operator command device 23, the operator command device 23 outputs to the controller 50 an operation command signal for starting the calculation process of the repose angle ⁇ r.
  • the detection data acquisition unit 71 obtains the vehicle body tilt angle ⁇ a, the boom angle ⁇ b, the bell crank angle ⁇ c, and the excavated object 300 in a state where the surface of the excavated object 300 held by the bucket 13 in the YZ plane maintains the angle of repose ⁇ r.
  • a weight Wa is obtained (step SA4).
  • the bucket angle calculator 72 calculates the bucket angle ⁇ bk based on the vehicle body tilt angle ⁇ a, the boom angle ⁇ b, and the bell crank angle ⁇ c acquired by the detected data acquisition unit 71 (step SA5).
  • the repose angle calculator 91 calculates the detected angle of the vehicle body 2, the bucket data stored in the bucket data storage unit 62, the weight Wa of the excavated object 300 obtained in step SA4, and the bucket angle ⁇ bk calculated in step SA5. Then, the angle of repose ⁇ r is calculated (step SA6).
  • the characteristic storage unit 61 stores the repose angle ⁇ r calculated by the repose angle calculation unit 91 (step SA7).
  • FIG. 18 is a flow chart showing an excavation method according to the embodiment.
  • step SC1 When the excavation work is started and at least part of the bucket 13 is inserted into the natural ground 210, the work implement control unit 100 tilts the bucket 13 (step SC1). Bucket angle ⁇ bk changes as bucket 13 tilts.
  • the traction force calculator 73 calculates the traction force F during excavation work (step SC2).
  • the weight calculation unit 81 acquires the density ⁇ from the characteristic storage unit 61 (step SC3).
  • the weight calculation unit 81 acquires the soil pressure coefficient K from the characteristic storage unit 61 (step SC4).
  • the weight calculator 81 calculates the cargo height H based on the formula (7) (step SC5).
  • the near side cargo angle determination unit 82 determines whether or not the cargo height H is higher than the height of the spill guard end 13B (step SC6).
  • step SC6 When it is determined in step SC6 that the cargo height H is higher than the height of the spill guard end 13B (step SC6: Yes), the front cargo angle determination unit 82 acquires the angle of repose ⁇ r from the characteristic storage unit 61 ( Step SC7).
  • the near side cargo angle determination unit 82 stores the bucket angle ⁇ bk ( ⁇ bka) at the time of step SC6.
  • the near side cargo angle determination unit 82 acquires the bucket angle ⁇ bk ( ⁇ bkb) calculated by the bucket angle calculation unit 72 during excavation work.
  • the near side cargo angle determination unit 82 counts the bucket angle increase amount ⁇ bk indicating the difference between the bucket angle ⁇ bkb and the bucket angle ⁇ bka (step SC8).
  • the near side cargo angle determination unit 82 acquires the ground angle ⁇ g from the characteristic storage unit 61 (step SC9).
  • the near side cargo angle determination unit 82 determines whether or not the sum of the ground angle ⁇ g and the bucket angle increase amount ⁇ bk is smaller than the repose angle ⁇ r (step SC10).
  • step SC10 determines whether the sum of the ground angle ⁇ g and the bucket angle increase amount ⁇ bk is smaller than the repose angle ⁇ r. If it is determined in step SC10 that the sum of the ground angle ⁇ g and the bucket angle increase amount ⁇ bk is smaller than the repose angle ⁇ r (step SC10: Yes), the near side cargo angle determination unit 82 determines the near side cargo angle ⁇ 1. The sum of the ground angle ⁇ g and the bucket angle increment ⁇ bk is determined (step SC11).
  • step SC10 If it is determined in step SC10 that the sum of the ground angle ⁇ g and the bucket angle increment ⁇ bk is equal to or greater than the angle of repose ⁇ r (step SC10: No), the near side cargo angle determination unit 82 determines the near side cargo angle ⁇ 1. The repose angle ⁇ r is determined (step SC12).
  • step SC6 When it is determined in step SC6 that the cargo height H is equal to or less than the height of the spill guard end 13B (step SC6: No), the near side cargo angle determination unit 82 acquires the ground angle ⁇ g from the characteristic storage unit 61. After that, the front side cargo angle ⁇ 1 is determined as the ground angle ⁇ g (step SC13).
  • the weight calculator 81 acquires the bucket angle ⁇ bk calculated by the bucket angle calculator 72 during excavation work (step SC14).
  • the weight calculation unit 81 acquires the bucket length L, the upper side opening angle ⁇ sp, and the cutting edge side opening angle ⁇ 3 as bucket data from the bucket data storage unit 62 (step SC15).
  • the weight calculator 81 calculates the cargo depth x based on the cargo height H calculated in step SC5, the bucket angle ⁇ bk acquired in step SC14, and the bucket data acquired in step SC15 (step SC16 ).
  • the weight calculation unit 81 calculates the gap cross-sectional area A2 based on the formula (8) (step SC17).
  • the weight calculation unit 81 acquires the angle of repose ⁇ r from the characteristic storage unit 61 .
  • the weight calculator 81 determines the cutting edge side cargo angle ⁇ 2 as the repose angle ⁇ r. Further, the weight calculation unit 81 acquires the front side cargo angle ⁇ 1 determined by the front side cargo angle determination unit 82 based on the processing from step SC6 to step SC13 (step SC18).
  • the weight calculator 81 calculates the load-shaped portion cross-sectional area A3 based on the formula (9) (step SC19).
  • the weight calculator 81 calculates the cargo cross-sectional area Aa based on the formula (10) (step SC20).
  • the weight calculation unit 81 acquires the bucket width B as bucket data from the bucket data storage unit 62 (step SC21).
  • the weight calculation unit 81 acquires the density ⁇ from the characteristic storage unit 61 (step SC22).
  • the weight calculation unit 81 calculates the weight Wa based on the cargo cross-sectional area Aa calculated in step SC20, the bucket width B obtained in step SC21, and the density ⁇ obtained in step SC22. That is, after calculating the cargo cross-sectional area Aa in step SC20, the weight calculator 81 calculates the weight Wa based on the formulas (3) and (4) (step SC23).
  • the work implement control unit 100 determines whether or not the difference between the weight Wa calculated in step SC23 and the target weight Wr is equal to or less than a predetermined threshold (step SC24).
  • step SC24 If it is determined in step SC24 that the difference between the weight Wa and the target weight Wr is equal to or less than the threshold value, that is, if it is determined that the weight Wa and the target weight Wr match or approximate each other (step SC24: Yes), work machine control is performed.
  • the unit 100 withdraws the bucket 13 from the ground 210 while maintaining the bucket angle ⁇ bk when determining that the difference between the weight Wa and the target weight Wr is equal to or less than the threshold (step SC25). After the bucket 13 is removed from the natural ground 210 , the operator loads the excavated material 300 held by the bucket 13 onto the dump body 230 .
  • step SC24 When it is determined in step SC24 that the difference between the weight Wa and the target weight Wr is not equal to or less than the threshold, that is, when it is determined that the weight Wa and the target weight Wr are different (step SC24: No), the work implement control unit 100 , the tilt operation of the bucket 13 is continued (step SC1).
  • the weight calculator 81 can calculate the weight Wa of the excavated object 300 held by the bucket 13 based on the tractive force F, the bucket angle ⁇ bk, and the bucket data. can.
  • the weight calculator 81 can grasp the weight Wa of the excavated object 300 held in the bucket 13 after the excavation work.
  • the work machine control unit 100 controls the work machine 6 during the excavation work so that the difference between the weight Wa and the target weight Wr becomes small. can be done.
  • the weight Wa of the excavated object 300 with respect to the transport vehicle 220 is automatically adjusted, and the excavated object 300 is loaded onto the transport vehicle 220 with the target load. Therefore, the loading operation by the wheel loader 1 is optimized.
  • the weight Wa of the excavated object 300 is measured by the weight sensor 34 provided on the wheel loader 1 .
  • a weight Wa of the excavated object 300 may be detected by a weight sensor provided on the transport vehicle 220 .
  • Loading the excavated material 300 onto the dump body 230 by the bucket 13 changes the load on the transport vehicle 220 .
  • Weight sensors on the haulage vehicle 220 detect a first load on the haulage vehicle 220 before the excavated material 300 is loaded onto the dump body 230 and a load on the haulage vehicle 220 after the excavated material 300 is loaded onto the dump body 230 .
  • a second load applied is detected. Detection data of the weight sensor provided on the transport vehicle 220 is transmitted to the controller 50 of the wheel loader 1 .
  • the weight Wa of the excavated material 300 held by the bucket 13 corresponds to the difference between the first load and the second load.
  • the repose angle ⁇ r is calculated based on the excavated object 300 held by the bucket 13.
  • the repose angle ⁇ r may be calculated based on the excavated object 300 that is not held by the bucket 13 .
  • the angle of repose ⁇ r may be calculated in a laboratory or evaluation facility. Further, when the angle of repose ⁇ r is known, the process of calculating the angle of repose ⁇ r may be omitted. It is sufficient that the repose angle ⁇ r is stored in the characteristic storage unit 61 before the excavation work.
  • the loading machine 1 is operated by an operator in the above-described embodiment, it is not limited to this.
  • the loading machine 1 may be operated by a remote system.
  • a device having the functions of the controller 50 and a remote control device is provided at the remote control site.
  • the loading machine 1 is a wheel loader.
  • the loading machine 1 may be a hydraulic excavator having a front-loading work machine.
  • the loading machine 1 may be a hydraulic excavator having a backhoe type working machine in which the opening of the bucket faces rearward during excavation work.
  • SYMBOLS 1 Wheel loader (loading machine), 2... Vehicle body, 3... Power source, 4... Cab, 5... Wheel, 5F... Front wheel, 5R... Rear wheel, 6... Working machine, 8... Power take-off, 9... Power transmission Apparatus 12 Boom 13 Bucket 13A Blade tip 13B Spill guard end 13C Right end 13D Left end 13E Cargo contact 14 Bellcrank 15 Bucket link 16 Bracket , 17... Bracket, 18... Lift cylinder, 19... Bucket cylinder, 20... Hydraulic pump, 21... Control valve, 22... Operating device, 23... Operator command device, 31... Inclination sensor, 32... Boom angle sensor, 33...
  • Bucket Angle sensor 34 Weight sensor 35 Revolutions sensor 37 Pump pressure sensor 38 Pump capacity sensor 40
  • Controller 51 Processor 52 Main memory 53 Storage 54 Interface 61... Characteristics storage unit 62... Bucket data storage unit 71... Detection data acquisition unit 72... Bucket angle calculation unit 73... Traction force calculation unit 81... Weight calculation unit 82... Front cargo angle determination unit 91... Angle of repose calculation unit 100... Working machine control unit 131... Bottom plate part 132... Back plate part 133... Top plate part 134... Right plate part 135... Left plate part 136... Opening 200...

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  • Engineering & Computer Science (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 système de commande destiné à commander une machine de chargement comprenant une machine de travail dotée d'un godet, le système de commande comprenant un dispositif de commande. Le dispositif de commande calcule une force de traction de la machine de chargement pendant un travail d'excavation lors duquel le godet est utilisé pour excaver un objet d'excavation. Le dispositif de commande acquiert un angle de godet indiquant l'angle du godet relativement au plan horizontal pendant le travail d'excavation. Le dispositif de commande calcule le poids d'une matière excavée, c'est-à-dire l'objet d'excavation maintenu dans le godet, sur la base de la force de traction, de l'angle de godet et de données de godet indiquant la forme et les dimensions du godet.
PCT/JP2023/006681 2022-02-28 2023-02-24 Système de commande, machine de chargement et procédé de commande Ceased WO2023163090A1 (fr)

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US18/724,469 US20250333930A1 (en) 2022-02-28 2023-02-24 Control system, loading machine, and control method
EP23760089.5A EP4442914A4 (fr) 2022-02-28 2023-02-24 Système de commande, machine de chargement et procédé de commande
CN202380016296.3A CN118510968A (zh) 2022-02-28 2023-02-24 控制系统、装载机械及控制方法

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JP2022030476A JP2023126037A (ja) 2022-02-28 2022-02-28 制御システム、積込機械、及び制御方法
JP2022-030476 2022-02-28

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EP (1) EP4442914A4 (fr)
JP (1) JP2023126037A (fr)
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WO2025069599A1 (fr) * 2023-09-26 2025-04-03 日立建機株式会社 Engin de chantier
JP2025127282A (ja) * 2024-02-20 2025-09-01 株式会社小松製作所 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

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WO2018174154A1 (fr) * 2017-03-22 2018-09-27 住友重機械工業株式会社 Pelle et dispositif de gestion et dispositif de support pour pelles
JP2019203381A (ja) 2015-08-24 2019-11-28 株式会社小松製作所 ホイールローダ
JP2020056310A (ja) * 2020-01-15 2020-04-09 住友重機械工業株式会社 ショベル及びショベルの重量算出装置

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JP7091167B2 (ja) * 2018-06-29 2022-06-27 株式会社小松製作所 作業機械および作業機械を含むシステム

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JP2019203381A (ja) 2015-08-24 2019-11-28 株式会社小松製作所 ホイールローダ
WO2018174154A1 (fr) * 2017-03-22 2018-09-27 住友重機械工業株式会社 Pelle et dispositif de gestion et dispositif de support pour pelles
JP2020056310A (ja) * 2020-01-15 2020-04-09 住友重機械工業株式会社 ショベル及びショベルの重量算出装置

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Title
See also references of EP4442914A4

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EP4442914A1 (fr) 2024-10-09
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EP4442914A4 (fr) 2025-11-12
JP2023126037A (ja) 2023-09-07

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