Control system, control method, and working machine

Abstract

One embodiment of the present disclosure is a control system of a work machine having a work device including a work implement and a movable support portion that changes a posture of the work implement, the control system including a controller having a storage portion that stores at least three target postures including a first posture. The controller selects one of the at least three target postures as a target posture of the work implement based on an instruction signal that instructs a posture of the work implement and a detection signal that indicates a current posture of the work implement, and controls the movable support portion.

Description

Technical Field

[0001] This disclosure relates to a control system, a control method, and a working machine. This application claims priority based on Japanese Patent Application No. 2021-091215, filed on May 31, 2021, the contents of which are incorporated herein by reference. Background Technology

[0002] Patent document 1 discloses a wheel loader that automatically adjusts the bucket to a horizontal position when the control lever is operated to the holding position.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2013-167098 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In wheel loaders, which are examples of working machinery, the bucket, as an example of a working tool, is often used in various fixed postures, including horizontal posture, transport posture, soil discharge posture, and grounding posture. However, in the wheel loader described in Patent Document 1, there is a problem that the bucket posture cannot be automatically adjusted to multiple fixed postures.

[0008] This disclosure was made in view of the above circumstances, and its purpose is to provide a control system, control method, and working machine capable of automatically adjusting the posture of a working tool to multiple postures.

[0009] Technical solutions for solving the problem

[0010] To address the aforementioned problems, a first aspect of this disclosure is a control system for a working machine. The working machine has a working device including a working tool and a movable support for changing the posture of the working tool. The control system includes a controller with a storage unit that stores at least three target postures. The controller selects one of the at least three target postures as the target posture of the working tool based on a command signal for operating the posture of the working tool and a detection signal indicating the current posture of the working tool, thereby controlling the movable support.

[0011] Furthermore, a second aspect of this disclosure is a control system for a work machine. The work machine has a working device including a work tool and a movable support for changing the posture of the work tool. The control system includes a controller with a storage unit that stores at least three target postures, including a first posture. Upon receiving a command signal to operate the posture of the work tool, the controller uses the first posture as the target posture of the work tool and controls the movable support. If the command signal is received repeatedly and continuously within a predetermined time, the controller selects a target posture different from the first posture from the at least three target postures as the target posture of the work tool and controls the movable support.

[0012] Furthermore, a third aspect of this disclosure is a control method for a working machine, the working machine having a working device including a working tool and a movable support for changing the posture of the working tool. This control method comprises the following steps: The first step is to store at least three target postures. The second step is to select one of the at least three target postures based on a command signal for operating the posture of the working tool and a detection signal indicating the current posture of the working tool. The third step is to control the movable support by using the selected target posture as the target posture of the working tool.

[0013] Furthermore, the fourth aspect of this disclosure is a control method for a working machine, which has a working device including a working tool and a movable support for changing the posture of the working tool. The control method comprises the following steps: The first step is to store at least three target postures, including a first posture. The second step is to select the first posture as the target posture upon receiving a command signal for operating the posture of the working tool. The third step is to select a target posture different from the first posture from the at least three target postures, provided that the command signal is received continuously and repeatedly within a predetermined time. The fourth step is to control the movable support by using the selected target posture as the target posture of the working tool.

[0014] Furthermore, the fifth aspect of this disclosure is a working machine having a working tool and a movable support for changing the posture of the working tool, the working machine having a controller for controlling the movable support. The controller includes a storage unit for storing at least three target postures. The controller selects one of the at least three target postures as the target posture of the working tool based on a command signal for operating the posture of the working tool and a detection signal indicating the current posture of the working tool, thereby controlling the movable support.

[0015] Furthermore, a sixth aspect of this disclosure is a working machine having a working tool and a movable support for changing the posture of the working tool, and the working machine having a controller for controlling the movable support. The controller includes a storage unit that stores at least three target postures, including a first posture. Upon receiving a command signal for operating the posture of the working tool, the controller uses the first posture as the target posture of the working tool to control the movable support. If the command signal is received repeatedly and continuously within a predetermined time, the controller selects a target posture different from the first posture from the at least three target postures as the target posture of the working tool to control the movable support.

[0016] Invention Effects

[0017] According to the various methods disclosed herein, the posture of the working tool can be automatically adjusted to multiple postures. Attached Figure Description

[0018] Figure 1 This is a side view showing the operating machinery according to the first embodiment.

[0019] Figure 2 This is a side view showing an example of the operation of the working machine according to the first embodiment.

[0020] Figure 3 This is a side view showing other examples of the operation of the working machine according to the first embodiment.

[0021] Figure 4 This is a side view showing other examples of the operation of the working machine according to the first embodiment.

[0022] Figure 5 This is a side view showing other examples of the operation of the working machine according to the first embodiment.

[0023] Figure 6 This is a block diagram illustrating a structural example of the control system of the operating machine according to the first embodiment.

[0024] Figure 7 This is a perspective view showing a structural example of the bucket operating device according to the first embodiment.

[0025] Figure 8 This is a perspective view showing other structural examples of the bucket operating device according to the first embodiment.

[0026] Figure 9 This is a schematic block diagram showing the structure of the controller according to the first embodiment.

[0027] Figure 10 This is a schematic diagram illustrating an example of the operation of the bucket according to the first embodiment.

[0028] Figure 11This is a flowchart illustrating an example of the operation of the controller according to the first embodiment.

[0029] Figure 12 This is a flowchart illustrating an example of the operation of the controller according to the second embodiment.

[0030] Figure 13 This is a flowchart illustrating an example of the operation of the controller according to the second embodiment.

[0031] Figure 14 This is a flowchart illustrating an example of the operation of the controller according to the second embodiment. Detailed Implementation

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be noted that in the various figures, the same reference numerals are used for the same or corresponding structures, and descriptions are omitted where appropriate.

[0033] In this embodiment, a local coordinate system is established for the operating machinery 1, and the positional relationships of each part are explained with reference to the local coordinate system. In the local coordinate system, the first axis extending in the left-right direction (vehicle width direction) of the operating machinery 1 is designated as the X-axis, the second axis extending in the front-back direction of the operating machinery 1 is designated as the Y-axis, and the third axis extending in the up-down direction of the operating machinery 1 is designated as the Z-axis. The X-axis is orthogonal to the Y-axis. The Y-axis is orthogonal to the Z-axis. The Z-axis is orthogonal to the X-axis. The +X direction is the right direction, and the -X direction is the left direction. The +Y direction is the front direction, and the -Y direction is the back direction. The +Z direction is the up direction, and the -Z direction is the down direction.

[0034] <First Implementation Method>

[0035] [Overview of Operating Machinery]

[0036] Figures 1-5 This is a side view showing the working machine 1 according to the first embodiment. The working machine 1 of the first embodiment is, for example, a wheel loader. In the following description, the working machine 1 will be appropriately referred to as a wheel loader 1.

[0037] like Figure 1 As shown, the wheel loader 1 has a body 2, a cab 3, a traveling device 4, and a working device 10. The wheel loader 1 travels on the work site via the traveling device 4. The wheel loader 1 performs operations on the work site using the working device 10. The wheel loader 1 can perform operations such as digging, loading, transporting, and snow removal using the working device 10.

[0038] The cab 3 is supported by the vehicle body 2. Inside the cab 3, there is a driver's seat 31 for the operator to sit in, an operating device 32 (described later), and a display input unit 34.

[0039] The traveling mechanism 4 has rotatable wheels 5. The wheels 5 support the vehicle body 2. The wheeled loader 1 can travel on the road surface (or ground) RS via the traveling mechanism 4. It should be noted that... Figure 1 The image only shows the front wheel 5F and the rear wheel 5R on the left side.

[0040] The working device 10 is supported by the vehicle body 2. The working device 10 includes a bucket 12, which is an example of a working tool, and a movable support 17 that allows the position and orientation of the bucket 12 to be changed. Figure 1 In the example shown, the movable support 17 includes a boom 11, a boom cylinder 13, a bucket cylinder 14, a bell crank 15, and a connecting rod 16.

[0041] The boom 11 is rotatably supported on the vehicle body 2, and corresponds to the extension and retraction of the boom cylinder 13, such as... Figures 1-5 The boom 11 moves vertically. The boom cylinder 13 is an actuator that generates power to move the boom 11; one end is connected to the vehicle body 2, and the other end is connected to the boom 11. When the operator operates the boom operating device (not shown) included in the operating device 32, the boom cylinder 13 extends and retracts. This causes the boom 11 to move vertically. The boom cylinder 13 is, for example, a hydraulic cylinder.

[0042] The bucket 12, with a cutting edge 12T, is an operating tool used for digging and loading objects such as mud and sand. The bucket 12 is rotatably connected to the boom 11 and to one end of a connecting rod 16. The other end of the connecting rod 16 is rotatably connected to one end of a double-arm crank 15. The central portion of the double-arm crank 15 is rotatably connected to the boom 11, and the other end is rotatably connected to one end of a bucket cylinder 14. The other end of the bucket cylinder 14 is rotatably connected to the vehicle body 2. The bucket 12 operates by power generated by the bucket cylinder 14. The bucket cylinder 14 is an actuator that generates power for moving the bucket 12. When the operator operates the bucket operating device 33, the bucket cylinder 14 extends and retracts. This causes the bucket 12 to swing. The bucket cylinder 14 is, for example, a hydraulic cylinder. The cutting edge 12T has shapes such as a chamfered edge or a flat edge and is interchangeably mounted on the end of the bucket 12.

[0043] It should be noted that, in this embodiment, the following will be used: Figure 2 The orientation of the bucket 12 with its cutting edge 12T pointing downwards, as shown, is called the dumping orientation. The dumping orientation is, for example, an orientation in which the excavated material in the bucket 12 can be loaded onto a transport vehicle or similar device (soil dumping orientation). Furthermore, as shown... Figure 3 The posture of the bucket 12 with its blade tip 12T pointing upwards, as shown, is called the tilt posture (grabbing posture). The tilt posture is, for example, a posture that allows the excavated material to be held within the bucket 12 (handling posture). Furthermore, as shown... Figure 4The posture of the bucket 12, with its cutting edge 12T pointing in a horizontal direction (including a roughly horizontal direction) parallel to the road surface RS, is called the digging posture (or the driving posture during digging). The digging posture is, for example, the posture when beginning to dig for an object such as mud or sand, or when driving towards the object being dug (or a posture suitable for beginning to dig or driving). Furthermore, as shown... Figure 5 The posture of the bucket 12 with its cutting edge 12T in contact with the road surface RS is called the grounding posture. For example, the wheel loader 1 positions the bucket 12 in a digging posture (or the posture where the cutting edge 12T is lower than the road surface RS from the digging posture) and begins digging at the object located in front by traveling in the forward direction. It should be noted that in the wheel loader 1, since the direction of the cutting edge is substantially horizontal to the road surface RS, the digging posture can also be called the horizontal posture.

[0044] [Structure of the Control System]

[0045] Figure 6 This is a block diagram illustrating a structural example of the control system of the wheel loader 1 according to the first embodiment. Figure 6 As shown, the wheel loader 1 includes a power source 201, a PTO (Power Take Off) 202, a hydraulic pump 203, a control valve 200, an operating device 32, a display input unit 34, and a controller 100.

[0046] Power source 201 generates driving force to enable the working machinery to operate. Examples of power sources include internal combustion engines and electric motors.

[0047] PTO 202 transmits at least a portion of the driving force of power source 201 to hydraulic pump 203. PTO 202 distributes the driving force of power source 201 to walking device 4 and hydraulic pump 203.

[0048] Hydraulic pump 203, driven by power source 201, sprays working oil. At least a portion of the working oil sprayed from hydraulic pump 203 is supplied to each of boom cylinder 13 and bucket cylinder 14 via control valve 200. Control valve 200 controls the flow rate and direction of the working oil supplied from hydraulic pump 203 to each of boom cylinder 13 and bucket cylinder 14. Working device 10 is operated by the working oil from hydraulic pump 203.

[0049] The operating device 32 is located inside the cab 3. The operating device 32 is operated by the operator. The operator operates the operating device 32 to adjust the travel direction and speed of the wheel loader 1, switch between forward and reverse, and operate the working device 10. The operating device 32 includes, for example, a steering wheel, gear lever, accelerator pedal, brake pedal, and a bucket operating device (an example of a working tool operating device) 33 for operating the bucket 12 of the working device 10. The bucket operating device 33 outputs command signals for controlling the attitude of the bucket 12. The display input unit 34 includes a combination of an input device and a display device, a touch panel, or other input display devices. The operator uses the display input unit 34 to set, for example, stored values ​​for the target position and target attitude in the control of the working device 10, as described later.

[0050] Figure 7 as well as Figure 8 This is a structural diagram showing the bucket operating device 33 according to the first embodiment. It should be noted that... Figure 7 An example is shown where the bucket operating device 33 has a switch 33b1 on the operating lever 33L. Figure 8 An example is shown where the bucket operating device 33 has two switches 33b1 and 33b2 on the operating lever 33L. For example... Figure 7 as well as Figure 8 As shown, the bucket operating device 33 includes an operating lever 33L, which is an electrical operating lever capable of operating relative to the neutral position (C1) in the longitudinal direction from the tilt position A1 (first control position) to the tilt position E1 (second control position) (E1←D1←C1→B1→A1). The tilt positions A1 and E1 are, for example, the positions where the operating lever 33L reaches the end of its stroke in the rearward and forward directions, respectively. The bucket operating device 33 has a mechanism that automatically returns the position of the operating lever 33L to the neutral position (C1) without applying a certain or greater operating force to it. In this embodiment, the operation of tilting the operating lever 33L to the tilt position A1 or the tilt position E1 is called a tilt holding operation. Furthermore, the operation of tilting the operating lever 33L to the tilt position A1 is called a tilt-side tilt holding operation. Additionally, the operation of tilting the operating lever 33L to the tilt position E1 is called a dump-side tilt holding operation.

[0051] The bucket operating device 33 outputs control signals corresponding to the tilting direction and tilting amount of the operating lever 33L. Furthermore, when the operating lever 33L is tilted to tilt positions A1 and E1, the bucket operating device 33 outputs a predetermined operating mode signal indicating this. Additionally, the bucket operating device 33 outputs a signal indicating whether switch 33b1 or switch 33b2 is pressed. In this embodiment, pressing switch 33b1 or 33b2 can be configured as a tilt-hold operation. In this case, the bucket operating device 33 can also be configured using a PPC (Pressure Proportional Control) valve.

[0052] It should be noted that in the bucket operating device 33, when the operator's hand leaves the operating lever 33L, the operating lever returns to the neutral state (C1), but the controller 100 described later can be controlled as if to continue tilting and holding the state until, for example, the position or posture of the working device 10 becomes a predetermined state.

[0053] In addition, the wheel loader 1 has a working device load sensor 71, a boom angle sensor 72, and a bucket angle sensor 73.

[0054] The load sensor 71 detects the load applied to the working device 10. The load sensor 71 is a load measuring device, such as a strain gauge or load cell, disposed in at least a portion of the working device 10. The load data detected by the load sensor 71 is output to the controller 100. It should be noted that the load applied to the working device 10 can be detected using, for example, a hydraulic sensor that detects the pressure of the hydraulic fluid driving the boom cylinder 13 or the pressure of the hydraulic fluid driving the bucket cylinder 14. In this case, the load applied to the working device 10 changes when the excavated material is held in the bucket 12 and when it is not held in the bucket 12. The load sensor 71 can detect the presence or absence of excavated material held in the bucket 12 by detecting the change in the load applied to the working device 10.

[0055] The boom angle sensor 72 detects the angle of the boom 11 relative to the vehicle body 2 and outputs the detection data to the controller 100. The boom angle sensor 72 is, for example, an angle sensor disposed at the connection between the vehicle body 2 and the boom 11. It should be noted that the angle of the boom 11 can be calculated from the stroke of the boom cylinder 13.

[0056] The bucket angle sensor 73 is a sensor used to detect the angle of the bucket 12. The bucket angle sensor 73 is, for example, an angle sensor disposed at the connection between the boom 11 and the boom crank 15. The bucket angle sensor 73 detects the angle of the boom crank 15 relative to the boom 11 and outputs the detection data to the controller 100. The angle of the bucket 12 relative to the boom 11 (and the body 2) can be calculated based on the angle of the boom 11 relative to the body 2 detected by the boom angle sensor 72 and the angle of the boom crank 15 relative to the boom 11 detected by the bucket angle sensor 73. It should be noted that the angle of the bucket 12 relative to the boom 11 can be detected, for example, at the connection between the bucket 12 and the boom 11 using a sensor that detects the angle of the bucket 12 relative to the boom 11. Furthermore, the angles of the boom crank 15 relative to the boom 11 and the angle of the bucket 12 relative to the boom 11 can be calculated from the stroke of the boom cylinder 13 and the stroke of the bucket cylinder 14.

[0057] [Controller Structure]

[0058] Figure 9 This is a structural diagram showing the controller 100 of the wheel loader 1 according to the first embodiment. The controller 100 is configured, for example, using an FPGA (Field Programmable Gate Array) or a microcomputer that has a processor, main storage device, auxiliary storage device, input / output device, etc. The controller 100 is a functional structure composed of hardware or a combination of hardware and software such as programs, and includes: an operation signal detection unit 101, a boom angle acquisition unit 102, a bucket angle calculation unit 104, a storage unit 105, a target bucket angle determination unit 107, a bucket grounding detection unit 112, and a bucket cylinder control unit 109.

[0059] The controller 100 in this embodiment is a device for controlling the working device 10, which includes a bucket 12 and a movable support 17 for changing the position and attitude of the bucket 12. Furthermore, the controller 100 selects one of at least three target attitudes as the target attitude of the bucket 12 based on a command signal for operating the attitude of the bucket 12 and a detection signal indicating the current attitude of the bucket 12, and controls the movable support 17 accordingly. The command signal for operating the attitude of the bucket 12 includes a control signal corresponding to the tilting direction and tilting amount of the operating lever 33L output by the bucket operating device 33, and a control signal output by the operation signal detection unit 101 indicating that a tilt holding operation has been performed on the bucket operating device 33. The detection signal indicating the current attitude of the bucket 12 is a detection signal indicating the current bucket angle output by the bucket angle calculation unit 104.

[0060] It should be noted that, Figure 9Only the control structure corresponding to the operation of the bucket operating device 33 on the operating unit 32 is shown among the multiple functions of the controller 100. Furthermore, in the example of the controller 100's operation described later, the control structure corresponding to the operation of the bucket operating device 33... Figure 7 as well as Figure 8 The operation lever 33L of the bucket operating device 33 shown is described in the case of tilt holding operation.

[0061] The operation signal detection unit 101 receives the operation signal from the bucket operation device 33 within the operation device 32, and outputs the result of whether a tilt holding operation was performed (tilting the position of the operating lever 33L towards tilt position A1 or tilt position E1) or whether a tilt holding operation was performed on the switch 33b1 as a control signal indicating that a tilt holding operation was performed, to the target bucket angle determination unit 107 and the bucket cylinder control unit 109. It should be noted that, in this embodiment, the command signal for operating the attitude of the bucket 12 includes the following first command signal and second command signal output by the operation signal detection unit 101.

[0062] The first command signal is, for example, a signal output when the operating lever 33L is tilted and held in tilt position A1 (first control position). The second command signal is, for example, a signal output when the operating lever 33L is tilted and held in tilt position E1 (second control position).

[0063] Alternatively, the first command signal is, for example, a signal output when the operating lever 33L is operated to the tilt position B1 (the direction of the first control position) and the switch 33b1 is operated. The second command signal is, for example, a signal output when the operating lever 33L is operated to the tilt position D1 (the direction of the second control position) and the switch 33b1 is operated.

[0064] Alternatively, the first command signal may be a signal output when switch 33b1 (the first switch) is operated. The second command signal may be a signal output when switch 33b2 (the second switch) is operated.

[0065] The boom angle acquisition unit 102 receives data detected by the boom angle sensor 72 and acquires the current boom angle. The boom angle acquisition unit 102 outputs the acquired current boom angle data to the target bucket angle determination unit 107 and the bucket ground contact detection unit 112. The current boom angle data may, for example, be data representing the current boom cylinder length.

[0066] The bucket angle calculation unit 104 receives data detected by the boom angle sensor 72 and the bucket angle sensor 73, and calculates the current bucket angle. The bucket angle calculation unit 104 outputs the calculated current bucket angle data to the target bucket angle determination unit 107, the bucket cylinder control unit 109, and the bucket ground contact detection unit 112. The current bucket angle data may, for example, be data representing the current bucket cylinder length.

[0067] The storage unit 105 stores the setting values ​​of at least three target postures of the bucket 12, set using the display input unit 34, as stored values. In this embodiment, the at least three target postures include a first posture, a second posture, and a third posture. Alternatively, in the second embodiment described later, the at least three types of target postures include the first posture. Furthermore, the initial value of the first posture can be, for example, set to the horizontal posture of the bucket 12. Furthermore, the initial value of the second posture can be, for example, set to the transport posture of the bucket 12. Furthermore, the initial value of the third posture can be, for example, set to the soil discharge posture or the grounding posture of the bucket 12. The operator can use the display input unit 34 to change or initialize these target posture setting values.

[0068] The target bucket angle determination unit 107 selects a target posture from at least three target posture setting values ​​stored in the storage unit 105 based on the output signal of the operation signal detection unit 101, the output signal of the bucket angle calculation unit 104, and the target posture setting value set in the storage unit 105. The target bucket angle determination unit 107 determines the target bucket angle based on the selected target posture and the output signal (boom angle) of the boom angle acquisition unit 102. Since the posture of the bucket 12 changes correspondingly to the angle (boom angle) of the movable area and the boom 11, the posture of the bucket 12 is determined based on the target posture and the boom angle. It should be noted that the data representing the target bucket angle can, for example, be data representing the target bucket cylinder length as a target value for the bucket cylinder length. The target bucket angle determination unit 107 outputs the selected target posture data to the bucket cylinder control unit 109. The target bucket angle determination unit 107 outputs the determined target bucket angle to the bucket cylinder control unit 109.

[0069] It should be noted that when the first command signal is received from the operation signal detection unit 101, the target bucket angle determination unit 107 selects one of the first posture and the second posture as the target posture. Furthermore, when the second command signal is received from the operation signal detection unit 101, the target bucket angle determination unit 107 selects one of the first posture and the third posture as the target posture.

[0070] It should be noted that in this embodiment, the bucket 12 can rotate to a first posture region and a second posture region. The first posture region is the posture region between the first posture and the second posture, and the second posture region is the posture region between the first posture and the third posture. When the target bucket angle determination unit 107 receives a first command signal from the operation signal detection unit 101 and the current posture of the bucket 12 is in the second posture region, it selects the first posture as the target posture. Furthermore, when the target bucket angle determination unit 107 receives a second command signal from the operation signal detection unit 101 and the current posture of the bucket 12 is in the first posture region, it selects the first posture as the target posture.

[0071] The bucket grounding detection unit 112 detects whether the bucket 12 is grounded to the road surface (ground) RS based on the boom angle output by the boom angle acquisition unit 102, the bucket angle calculated by the bucket angle calculation unit 104, and the load of the working device 10 detected by the working device load sensor 71. For example, the bucket grounding detection unit 112 estimates the distance between the bucket 12 and the road surface RS based on the boom angle and bucket angle, and detects that the bucket 12 is grounded when the working device load sensor 71 detects a certain increase in load. The bucket grounding detection unit 112 outputs the detection result to the bucket cylinder control unit 109.

[0072] When the bucket operating device 33 is subjected to a prescribed tilt-holding operation, the bucket cylinder control unit 109 outputs a bucket cylinder command based on the command signal indicating the attitude of the bucket 12 and the detection signal indicating the current attitude of the bucket 12, thereby achieving the target attitude selected by the target bucket angle determination unit 107. The bucket cylinder control unit compares the current bucket angle calculated by the bucket angle calculation unit 104 with the target bucket angle determined by the target bucket angle determination unit 107, and outputs a bucket cylinder command, thereby making the current bucket angle the target bucket angle. The bucket cylinder control unit 109 outputs a bucket cylinder command to control the control valve 200. The control valve 200 drives the bucket cylinder 14 based on the bucket cylinder command and controls the movable support unit 17.

[0073] [Example of bucket operation]

[0074] Figure 10 This is a schematic diagram illustrating an example of the operation of the bucket 12 according to the first embodiment. Figure 10 In the diagram, the case where the bucket 12 is set to a horizontal state (horizontal posture) is represented as bucket 12-1. The state in which the bucket 12 is tilted to its maximum extent (this state is called the tilting end) is represented as bucket 12-2. The state in which the bucket 12 is dumped to its maximum extent (this state is called the dumping end) is represented as bucket 12-3. However, the posture of the dumping end is one of the postures of the state in which the bucket 12 is dumped to its maximum extent (represented as bucket 12-3a) and the state in which the bucket 12 is grounded (represented as bucket 12-3b).

[0075] It should be noted that the following descriptions of the action examples will focus on cases where the first posture is set to a horizontal posture, the second posture to an inclined end posture, and the third posture to an unloading end posture. It should also be noted that bucket 12-1-2 is the posture between bucket 12-1 in the first posture and bucket 12-2 in the second posture. Bucket 12-1-3 is the posture between bucket 12-1 in the first posture and bucket 12-3 in the third posture.

[0076] [Example of controller actions]

[0077] Figure 11 This is a flowchart illustrating an example of the operation of the controller 100 according to the first embodiment. Figure 11 The process shown involves the controller 100 (bucket cylinder control unit 109) controlling the attitude of the bucket.

[0078] Figure 11 It is a process that is repeated at a predetermined interval. It should be noted that... Figure 11 The treatment shown is for the tilting side. In the treatment for the dumping side, "tilting side" or "tilting end" is replaced with "(dumping side)" or "(dumping end)" in parentheses.

[0079] exist Figure 11 In the process shown, the controller 100 first determines whether a tilting hold operation towards the tilting side (tilting side) is detected (S101). If no tilting hold operation is detected (S101: No), the controller 100 terminates the process. Figure 11 The process is as follows: If a tilt-holding operation is detected (S101: Yes), the controller 100 determines, based on the current bucket angle data, whether the current attitude of the bucket 12 is closer to the tipping side (tilt side) than the horizontal attitude (S102). If the current attitude of the bucket 12 is closer to the tipping side (tilt side) than the horizontal attitude (S102: Yes), the controller 100 determines, based on the current boom angle, a target bucket angle to make the bucket 12 horizontal (S103). If the current attitude of the bucket 12 is not closer to the tipping side (tilt side) than the horizontal attitude (S102: No), the controller 100 determines, based on the current boom angle, a target bucket angle to make the attitude of the bucket 12 tilted to the tipping end (tilting end) state (S104). Next, the controller 100 outputs a command to make the current bucket angle the target bucket angle (S105). Next, the controller 100 determines whether a lever operation towards the tipping side (tilt side) is detected (S106). If a lever operation towards the tipping side (tilting side) is detected (S106: Yes), the controller 100 stops processing (S107). If no lever operation towards the tipping side (tilting side) is detected (S106: No), the controller 100 terminates. Figure 11 The processing is shown.

[0080] Through the above processing, the controller 100 controls the movable support 17 to make the attitude of the bucket 12 become the target bucket attitude. In this embodiment, when the bucket attitude is closer to the dumping side (tilting side) than the horizontal attitude (first attitude), the bucket attitude can be adjusted to the horizontal attitude (first attitude) by tilting and holding the tilting side (dumping side).

[0081] In addition, when the bucket posture is closer to the tilt side (dumping side) than the horizontal posture (first posture), the controller 100 can adjust to the tilt end (dumping end) by tilting and holding operation on the tilt side (dumping side).

[0082] (Function / Effect)

[0083] As described above, according to this embodiment, by performing a predetermined tilt holding operation on the bucket operating device 33, the posture of the working tool can be automatically adjusted to multiple postures.

[0084] <Second Implementation Method>

[0085] Next, refer to Figures 12-14 The operation example of the controller 100 in the second embodiment will be described in detail. It should be noted that, due to the structure of the controller 100 and... Figure 9 The first embodiment shown is the same, so the description is omitted.

[0086] [Example of controller actions]

[0087] Figures 12-14 This is a flowchart illustrating an example of the operation of the controller 100 according to the second embodiment. Figures 12-14 The process shown involves the controller 100 (bucket cylinder control unit 109) controlling the attitude of the bucket.

[0088] Figure 12 It is the main process that is repeated every specified period. Figure 13 The contents of process 1 (process in the case of detecting a tilt holding operation) are shown. It is executed in step S202 and terminated in step S206. Figure 14 The content of process 2 performed in step S207 is shown (for example, the process in the case where a second tilt-holding operation is detected within a specified time after the first tilt-holding operation is detected). It should be noted that... Figures 12-14 The process shown is for the tilting side. In the process for the dumping side, "tilting side" or "tilting end" is replaced with "(dumping side)" or "(dumping end)" in parentheses, and a decision (S405) is added. However, the decision in S405 can also be executed without any problem in the tilting side process.

[0089] exist Figure 12 In the process shown, the controller 100 first determines whether a tilting hold operation towards the tilting side (tilting side) is detected (S201). If no tilting hold operation is detected (S201: No), the controller 100 terminates the process. Figure 12 The process is shown. If a tilt-hold operation is detected (S201: Yes), the controller 100 begins processing 1 ( Figure 13 (S202). Then, process 1 is either terminated within process 1, or process 1 is executed until it is terminated in S206.

[0090] exist Figure 13 In process 1 shown, the controller 100 first determines, based on the current bucket angle data, whether the current attitude of the bucket 12 is closer to the tipping side (tilting side) than the horizontal attitude (S301). If the current attitude of the bucket 12 is not closer to the tipping side (tilting side) than the horizontal attitude (S301: No), the controller 100 terminates. Figure 13 Process 1 is shown. If the current attitude of the bucket 12 is closer to the tipping side (tilt side) than the horizontal attitude (S301: Yes), the controller 100 determines a target bucket angle to make the bucket 12's attitude horizontal based on the current boom angle (S302). Next, the controller 100 outputs a command to make the current bucket angle the target bucket angle (S303). Next, the controller 100 determines whether a lever operation towards the tipping side (tilt side) is detected (S304). If a lever operation towards the tipping side (tilt side) is detected (S304: Yes), the controller 100 stops the process (S304); if no lever operation towards the tipping side (tilt side) is detected (S304: No), the controller 100 terminates the process. Figure 13 Processing 1 is shown.

[0091] On the other hand, Figure 12 In the process shown, controller 100 begins processing 1 ( Figure 13 After (S202), the time following the detection of the tilt-holding operation is counted (S203). Next, the controller 100 determines whether a tilt-holding operation towards the tilt side (unloading side) has been detected within a specified time (S204). If no tilt-holding operation towards the tilt side (unloading side) is detected within the specified time (S204: No), the controller 100 resets the counter to zero (S208), and the process ends. Figure 12The process is as shown. If a tilting holding operation towards the tilting side (tilting side) is detected within a specified time (S204: Yes), the controller 100 determines whether process 1 is being executed (S205). If process 1 is being executed (S205: Yes), the controller 100 stops process 1 (S206). If process 1 is not being executed (S205: No) or process 1 has been stopped (S206), the controller 100 begins process 2 (…). Figure 14 (S207) Clear the counter to zero (S208) End. Figure 12 The processing is shown.

[0092] exist Figure 14 In process 2 shown, the controller 100 first determines the target bucket angle (S401) to make the bucket 12's posture the tilt end (dumping end) state based on the current boom angle. Next, the controller 100 outputs a command to make the current bucket angle the target bucket angle (S402). Next, the controller 100 determines whether a lever operation towards the dumping side (tilting side) is detected (S403). If a lever operation towards the dumping side (tilting side) is detected (S403: Yes), the controller 100 stops the process (S404). On the other hand, if no lever operation towards the dumping side (tilting side) is detected (S403: No), the controller 100 determines whether grounding of the bucket 12 is detected (S405). If grounding of the bucket 12 is detected (S405: Yes), the controller 100 stops the process (S404); if grounding of the bucket 12 is not detected (S405: No), the controller 100 terminates the process. Figure 14 The processing is shown.

[0093] Through the above processing, when the bucket 12 is in the second posture or in a posture between the first and second postures, and after a tilt-holding operation is performed, the controller 100 adjusts the bucket 12 to the first posture (horizontal posture). Furthermore, when the bucket 12 is in the third posture or in a posture between the first and third postures, and after a tilt-holding operation is performed, the controller 100 adjusts the bucket 12 to the first posture (horizontal posture).

[0094] If the bucket 12 is in any orientation and the tilting and holding operation is repeatedly performed continuously within a specified time, the controller 100 adjusts the bucket 12 to a second orientation (tilting end). Furthermore, if the bucket 12 is in any orientation and the dumping and holding operation is repeatedly performed continuously within a specified time, the controller 100 adjusts the bucket 12 to a third orientation (dumping end).

[0095] (Function / Effect)

[0096] As described above, according to the controller 100 of the second embodiment, upon receiving a command signal indicating the orientation of the bucket 12, the target bucket angle determination unit 107 of the controller 100 controls the movable support unit 17 by taking the first orientation as the target orientation of the bucket 12. Furthermore, if the controller continuously receives command signals indicating the current orientation of the bucket 12 within a predetermined time period, the controller 100 selects a target orientation different from the first orientation from at least three target orientations as the target orientation of the bucket 12 to control the movable support unit 17.

[0097] If the first command signal is repeatedly received from the operation signal detection unit 101 within a specified time, the target bucket angle determination unit 107 selects a second posture as the target posture from at least three target posture settings stored in the storage unit 105 and sets it as the target posture of the bucket 12 to control the movable support unit 17. Furthermore, if the second command signal is repeatedly received from the operation signal detection unit 101 within a specified time, the target bucket angle determination unit 107 selects a third posture as the target posture from at least three target posture settings stored in the storage unit 105 and sets it as the target posture of the bucket 12 to control the movable support unit 17.

[0098] According to this embodiment, by performing a prescribed tilting and holding operation on the bucket operating device 33, the posture of the working tool can be automatically adjusted to multiple postures.

[0099] <Modifications or other embodiments of this implementation>

[0100] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the specific structure is not limited to the above embodiments and may include design changes that do not depart from the spirit of the present invention.

[0101] For example, the wheel loader 1 can also be configured to be remotely operated. In this case, part or all of the controller 100 and the operating device 32 can be located, for example, at the location where remote operation is performed.

[0102] Furthermore, the working machinery (or vehicle) is not limited to wheel loaders; it can be other working machinery such as hydraulic excavators equipped with working devices, which have working tools and movable supports for the working tools. Additionally, the working tools are not limited to buckets. Working tools can be, for example, forks, bale grabs, etc., that can be interchangeably mounted as accessories on wheel loaders.

[0103] In addition, in the above embodiments, part or all of the program executed by the computer can be distributed via a computer-readable recording medium or communication line.

[0104] Industrial availability

[0105] According to various methods of the present invention, the posture of the working tool can be automatically adjusted to multiple postures.

[0106] Explanation of reference numerals in the attached figures

[0107] 1. Wheel loader (operating machinery), 2. Body, 3. Cab, 4. Traveling device, 5. Wheel, 6. Tire, 10. Working device, 11. Boom, 12. Bucket (operating tool), 12T blade tip, 13. Boom cylinder, 14. Bucket cylinder, 15. Double boom crank, 16. Connecting rod, 17. Movable support, 100. Controller.

Claims

1. A control system for a working machine, the working machine having a working device including a working tool and a movable support for changing the posture of the working tool, the control system being characterized in that... The system includes a controller, which comprises a storage unit for storing at least three target poses. The controller selects one of the at least three target postures as the target posture of the working tool based on the command signal for operating the posture of the working tool and the detection signal indicating the current posture of the working tool, and controls the movable support part accordingly. The at least three target postures include a first posture, a second posture, and a third posture. The command signal includes a first command signal and a second command signal. The working tool can rotate to a first posture area and a second posture area. The first posture region is the posture region between the first posture and the second posture, and the second posture region is the posture region between the first posture and the third posture. When the controller receives the first instruction signal and the current posture of the working tool is in the second posture region, it selects the first posture as the target posture. Upon receiving the second instruction signal and when the current posture of the working tool is within the first posture region, the first posture is selected as the target posture.

2. A control system for a working machine, the working machine having a working device including a working tool and a movable support for changing the posture of the working tool, the control system being characterized in that... The device includes a controller, which includes a storage unit that stores at least three target poses, including a first pose. Upon receiving a command signal indicating the posture of the working tool, the controller uses the first posture as the target posture of the working tool to control the movable support portion. If the command signal is received repeatedly and continuously within a specified time, a target posture different from the first posture among the at least three target postures is selected as the target posture of the working tool to control the movable support part. The at least three target postures include a first posture, a second posture, and a third posture. The command signal includes a first command signal and a second command signal. The working tool can rotate to a first posture area and a second posture area. The first posture region is the posture region between the first posture and the second posture, and the second posture region is the posture region between the first posture and the third posture. When the controller receives the first instruction signal and the current posture of the working tool is in the second posture region, it selects the first posture as the target posture. Upon receiving the second instruction signal and when the current posture of the working tool is within the first posture region, the first posture is selected as the target posture.

3. The control system according to claim 1 or 2, characterized in that, The first posture is the horizontal posture of the working tool. The second posture is the handling posture of the work tool. The third posture is either the soil-discharging posture of the working tool or the grounding posture of the working tool.

4. The control system according to claim 1 or 2, characterized in that, The tool operating device that outputs the command signal is a lever capable of operating between a first control position and a second control position. The first command signal is the signal output when the lever is operated to the first control position. The second command signal is the signal output when the lever is operated to the second control position.

5. The control system according to claim 1 or 2, characterized in that, The tool operating device that outputs the command signal includes a lever and a switch capable of operating between a first control position and a second control position. The first command signal is a signal output when the lever is operated in the direction of the first control position and the switch is operated. The second command signal is a signal output when the lever is operated in the direction of the second control position and the switch is operated.

6. The control system according to claim 1 or 2, characterized in that, The operating device for the work tool that outputs the command signal includes a first switch and a second switch. The first command signal is the signal output when the first switch is operated. The second command signal is the signal output when the second switch is operated.

7. A control method for a working machine, the working machine having a working device including a working tool and a movable support for changing the posture of the working tool, the control method being characterized by comprising: The steps to store at least three target poses; The step of selecting one of the at least three target postures based on the instruction signal for operating the posture of the working tool and the detection signal representing the current posture of the working tool; The step of controlling the movable support by using the selected target posture as the target posture of the working tool; The at least three target postures include a first posture, a second posture, and a third posture. The command signal includes a first command signal and a second command signal. The working tool can rotate to a first posture area and a second posture area. The first posture region is the posture region between the first posture and the second posture, and the second posture region is the posture region between the first posture and the third posture. In the selection step, Upon receiving the first instruction signal and if the current posture of the working tool is within the second posture region, the first posture is selected as the target posture. Upon receiving the second instruction signal and when the current posture of the working tool is within the first posture region, the first posture is selected as the target posture.

8. A control method for a working machine, the working machine having a working device including a working tool and a movable support for changing the posture of the working tool, the control method being characterized by comprising: The steps of storing at least three target poses, including the first pose; Upon receiving an instruction signal indicating the posture of the operating tool, the step of selecting the first posture as the target posture; The step of selecting a target posture that is different from the first posture from the at least three target postures when the instruction signal is received repeatedly and continuously within a specified time. The step of controlling the movable support by using the selected target posture as the target posture of the working tool; The at least three target postures also include a second posture and a third posture. The command signal includes a first command signal and a second command signal. If the first instruction signal is received repeatedly and continuously within a specified time, the second posture is determined as the target posture of the working tool. If the second instruction signal is received repeatedly and continuously within a specified time, the third posture is determined as the target posture of the working tool.

9. A working machine having a working tool and a movable support for changing the posture of the working tool, characterized in that it includes a controller for controlling the movable support. The controller includes a storage unit that stores at least three target poses. The movable support is controlled by selecting one of at least three target postures as the target posture of the working tool based on the command signal indicating the posture of the working tool and the detection signal indicating the current posture of the working tool. The at least three target postures include a first posture, a second posture, and a third posture. The command signal includes a first command signal and a second command signal. The working tool can rotate to a first posture area and a second posture area. The first posture region is the posture region between the first posture and the second posture, and the second posture region is the posture region between the first posture and the third posture. When the controller receives the first instruction signal and the current posture of the working tool is in the second posture region, it selects the first posture as the target posture. Upon receiving the second instruction signal and when the current posture of the working tool is within the first posture region, the first posture is selected as the target posture.

10. A working machine having a working tool and a movable support for changing the posture of the working tool, characterized in that it includes a controller for controlling the movable support. The controller includes a storage unit that stores at least three target poses, including a first pose. Upon receiving a command signal indicating the posture of the working tool, the movable support is controlled by taking the first posture as the target posture of the working tool. If the command signal is received repeatedly and continuously within a specified time, a target posture different from the first posture among the at least three target postures is selected as the target posture of the working tool to control the movable support part. The at least three target postures also include a second posture and a third posture. The command signal includes a first command signal and a second command signal. If the controller continuously receives the first instruction signal repeatedly within a specified time, it determines the second posture as the target posture of the working tool. If the second instruction signal is received repeatedly and continuously within a specified time, the third posture is determined as the target posture of the working tool.

Images