WORK VEHICLE, SYSTEM INCLUDING A WORK VEHICLE AND METHOD FOR CONTROLLING A WORK VEHICLE

Abstract

A vibration suppression device (40) suppresses lateral movement of an operator seat (5S). A locking mechanism (30) switches between locking and unlocking the operation of the vibration suppression device (40). A sensor (41) detects vibration information about lateral vibrations of the operator seat (5S). The controller (50) switches between locking and unlocking the vibration suppression device (40) by the locking mechanism (30) based on a comparison between the vibration information detected by the sensor (41) and preset basic information for isolation operation.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a work vehicle, a system that includes a work vehicle, and a method for controlling the work vehicle. STATE OF THE ART

[0002] In a work vehicle, such as a hydraulic excavator or a wheel loader, a so-called rigid seat is used, in which an operator's seat is attached to the floor of an operator's cab. However, to improve driving comfort and reduce operator fatigue, a work vehicle has been developed in which a mechanical suspension, air suspension, or similar device is arranged between the operator's seat and the floor.

[0003] Japanese patent application number 2021-123122 (patent document 1) discloses a device for suppressing horizontal vibrations capable of actively suppressing horizontal vibrations of an operator's seat in a vehicle. Patent document 1 discloses that the operation of a fluid pressure actuator is controlled by actuating a two-way switching valve located between a fluid pressure supply source and the fluid pressure actuator, based on information about horizontal vibrations acting on a seat. LITERATURE LIST Patent literature

[0004] Patent Document 1: JP 2021-123122 A BRIEF DESCRIPTION OF THE INVENTION Technical Problem

[0005] Since the operation of the fluid pressure actuator is always controlled in the technology described in the above publication, the operator experiences discomfort.

[0006] One objective of the present disclosure is to provide a work vehicle, a system which includes the work vehicle, and a method for controlling the work vehicle, which may reduce the discomfort experienced by an operator during the operation of the work vehicle. Solution to the problem

[0007] A work vehicle and a system including the work vehicle according to the present disclosure each include an operator seat, a vibration suppression device, a locking mechanism, a sensor, and a controller. The vibration suppression device suppresses lateral movement of the operator seat. The locking mechanism toggles between locking and unlocking the operation of the vibration suppression device. The sensor detects vibration information about lateral vibration of the operator seat. The controller toggles between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset vibration baseline information for isolation operation.

[0008] A method for controlling a work vehicle of the present disclosure is a method for controlling a work vehicle which includes an operator seat, a vibration suppression device which suppresses movement of the operator seat in a lateral direction, and a locking mechanism which switches between locking and unlocking operation of the vibration suppression device, and includes the following steps.

[0009] Vibration information about the lateral vibrations of the operator's seat is recorded. The operation of the vibration suppression device is switched between locked and unlocked by the locking mechanism based on a comparison between the recorded vibration information and preset basic information for isolation operation. Advantageous effects of the invention

[0010] The present disclosure may implement a work vehicle, a system which includes the work vehicle, and a method for controlling the work vehicle, which may reduce the discomfort experienced by an operator during the operation of the work vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view illustrating a configuration of a wheel loader as an example of a work vehicle according to an embodiment of the present disclosure. Fig. Figure 2 is a diagram illustrating a configuration of a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 3 is a top view illustrating a configuration of an exemplary locking mechanism used in a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 4 is a side view illustrating a configuration of an exemplary locking mechanism used in a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 5 is a top view illustrating a configuration of another exemplary locking mechanism used in a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 6 is a side view illustrating a configuration of another exemplary locking mechanism used in a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 7 is a diagram illustrating functional blocks of a control system used in a system that includes a work vehicle in an embodiment of the present disclosure. Fig. Figure 8 is a flowchart showing a method for controlling a work vehicle in an embodiment of the present disclosure. DESCRIPTION OF EXECUTION FORMS

[0011] One embodiment of the present disclosure is described below with reference to the drawings.

[0012] In the patent specification and drawings, identical or corresponding components are designated with identical reference numerals, and redundant descriptions are not repeated. Configurations may be omitted or simplified in the drawings to simplify the description.

[0013] In the following description, "up", "down", "front", "back", "left" and "right" are directions in relation to an operator seated in a 5S operator seat in a Fig. The operator's cabin shown in section 1 is number 5. Fig. 1. The front-back direction is indicated by Z, the forward direction by Zf, and the backward direction by Zb. In Fig. 2 is an up-down direction marked with Y, and in the Fig. In sections 3 to 6, a left-right direction is marked with an X. In the following description, a top view means a view of the work vehicle from top to bottom and is synonymous with a view from above. Configuration of the work vehicle

[0014] A configuration of a wheel loader as an example of a work vehicle in the present embodiment is described with reference to Fig. 1 described. It should be noted that the work vehicle in the present embodiment is not limited to the wheel loader. The work vehicle of the present embodiment can be a work vehicle with a work attachment and an operator's seat and can be a hydraulic excavator, a bulldozer, a motor grader or the like.

[0015] Fig. Figure 1 is a side view illustrating a configuration of a wheel loader in one embodiment of the present disclosure. As in Fig. As illustrated in Figure 1, a wheel loader 1 in the present embodiment includes a chassis 2 and a working attachment 3. The working attachment 3 is arranged on the chassis 2. The chassis 2 includes a vehicle body frame 10, a pair of front tires 4, the operator's cab 5, an engine compartment 6, a pair of rear tires 7, and a steering cylinder 9. The wheel loader 1 performs earthmoving and sand loading operations or the like using the working attachment 3.

[0016] The vehicle body frame 10 is of a so-called articulated type (swivel type) and includes a front frame 11, a rear frame 12, and a coupling shaft section 13. The front frame 11 is arranged in the forward direction Zf of the rear frame 12. The coupling shaft section 13 is located in the center of the vehicle body frame 10 in the left-right direction (vehicle width direction) and rotatably couples the front frame 11 and the rear frame 12 together. The pair of front tires 4 are mounted on the left and right sides of the front frame 11. The pair of rear tires 7 are mounted on the left and right sides of the rear frame 12.

[0017] The working device 3 is driven by hydraulic oil from a working device pump (not illustrated). The working device 3 includes a boom 14, a bucket 15, a lifting cylinder 16, a bucket cylinder 17, and an angle lever 18. The boom 14 is mounted on the front frame 11. The bucket 15 is mounted at a distal tip end of the boom 14.

[0018] The lifting cylinder 16 and the bucket cylinder 17 are hydraulic cylinders. One end of the lifting cylinder 16 is attached to the front frame 11, and the other end is attached to the boom 14. The boom 14 pivots up and down by extending and retracting the lifting cylinder 16. One end of the bucket cylinder 17 is attached to the front frame 11, and the other end is connected to the bucket 15 via a bell crank 18. When the bucket cylinder 17 extends and retracts, the bucket 15 pivots up and down.

[0019] The operator's cab 5 is located on the rear frame 12. The operator's seat 5S, on which the operator can sit, a steering wheel, a lever for operating the implement 3, various switches, a display device, and the like are arranged inside the operator's cab 5. The engine compartment 6 is located on the rear frame 12 in the reverse direction Zb of the operator's cab 5 and houses an engine. System configuration including work vehicle

[0020] A configuration of a system that includes the work vehicle in the present embodiment is described below with reference to Fig. 2 to 7 described.

[0021] Fig. Figure 2 is a diagram illustrating a configuration of the system, which includes the work vehicle, in an embodiment of the present disclosure. Fig. 3 and Fig. Figure 4 is a top view and a side view, respectively, illustrating a configuration of an exemplary locking mechanism used in the system enclosing the work vehicle in an embodiment of the present disclosure. Fig. 5 and Fig. Figure 6 are a top view and a side view, respectively, illustrating a configuration of a further exemplary locking mechanism used in the system which encloses the work vehicle, according to an embodiment of the present disclosure. Fig. Figure 7 is a diagram illustrating functional blocks of a control system used in the system which includes the work vehicle in an embodiment of the present disclosure.

[0022] As in Fig. As illustrated in Figure 2, the system, including the work vehicle, has a locking mechanism 30, a vibration suppression device 40, a sensor 41, a fluid adjustment device 42 and a control unit 50.

[0023] The operator cabin 5 ( Fig. 1) includes a floor 5F. The operator seat 5S is located on the floor 5F of the operator cabin 5. The vibration suppression device 40 is located between the floor 5F and the operator seat 5S.

[0024] The vibration suppression device 40 includes a damping element 20 and elastic elements SP1 and SP2. The damping element 20 absorbs a vibration of the operator seat 5S in the lateral direction. The lateral direction refers to any direction in a plane that includes the front-back direction Z and the left-right direction X ( Fig. 3 to 6) which are orthogonal to each other. That is, the lateral direction can be the front-back direction Z, the left-right direction X, or any direction other than the front-back direction Z and the left-right direction X, as long as it is a direction in the plane that includes the front-back direction Z and the left-right direction X. Although Fig. Figure 2 illustrates a case in which the vibration suppression device 40 is arranged in the front-back direction Z, the vibration suppression device 40 can also be arranged in the left-right direction X, can be arranged in both the front-back direction Z and the left-right direction X, or can be arranged in a direction other than the front-back direction Z and a direction other than the left-right direction X.

[0025] One end of the damping element 20 is connected to a mounting element BL1 attached to the floor 5F. The other end of the damping element 20 is connected to a mounting element BL3 attached to the operator seat 5S. The damping element 20 has a first fluid chamber 20a and a second fluid chamber 20b, which are separated by a piston section of a piston rod. When the damping element 20 is inactive, it functions as a normal damper. When the damping element 20 is active, it can be extended and retracted by supplying and discharging fluid to and from the fluid chambers 20a and 20b in response to the vibrations of the operator seat 5S in a lateral direction.

[0026] The elastic elements SP1 and SP2, together with the damping element 20, absorb the lateral vibrations of the operator seat 5S. Each of the elastic elements SP1 and SP2 is, for example, formed from a spring. One end of the elastic element SP1 is connected to the mounting element BL1, which is attached to the base 5F. The other end of the elastic element SP1 is connected to the mounting element BL3, which is attached to the operator seat 5S. One end of the elastic element SP2 is connected to a mounting element BL2, which is attached to the base 5F. The other end of the elastic element SP2 is connected to the mounting element BL3, which is attached to the operator seat 5S.

[0027] One end of each of the damping element 20 and the elastic elements SP1 and SP2 can be attached directly to the floor 5F. The other end of each of the damping element 20 and the elastic elements SP1 and SP2 can be attached directly to the operator seat 5S.

[0028] Sensor 41 detects vibration information about the vibrations of the operator seat 5S in a lateral direction (any direction in the plane, including the forward-backward direction Z and the left-right direction X) relative to the ground 5F. Sensor 41 is, for example, an inertial measurement unit (IMU). The vibration information detected by sensor 41 includes, for example, at least the frequency and acceleration of the vibrations of the operator seat 5S in a lateral direction. The vibration information detected by sensor 41 can be an output signal for one or more elements selected from the group consisting of a work tool control lever, a travel lever, and a work mode selector switch.

[0029] The vibration information acquired by sensor 41 can include information on ground acceleration 5F, ground angular velocity 5F, accelerator pedal actuation amount, brake pedal ON / OFF switching, implement control lever actuation amount, change of speed level to a lower speed level, implement lock switch ON / OFF, semi-automatic digging function ON / OFF, and steering lock lever actuation.

[0030] The acceleration of the ground (5F) is measured, for example, by an accelerometer. From the acceleration of the ground (5F), a waveform pattern or peak values ​​of the ground acceleration waveform are determined in a specific operating mode. The angular velocity of the ground (5F) is measured, for example, by an angular velocity sensor. From the angular velocity of the ground (5F), a waveform pattern or peak values ​​of the ground angular velocity waveform are determined in a specific operating mode.

[0031] The amount of pressure applied to the accelerator pedal is detected, for example, by a potentiometer. From this pressure, a pattern of the accelerator pedal's opening degree in a specific operating mode is determined. The on / off switching of the brake pedal is detected, for example, by a pressure switch. From this on / off switching, an on / off pattern of the brake pedal in a specific operating mode is determined.

[0032] The amount of movement of the implement control lever is detected, for example, by a potentiometer. From this movement, a pattern of control / implement lever angles is determined in a specific operating mode. The change to a lower speed level is detected, for example, by a switch. From this change to a lower speed level, the control unit 50 determines the speed level change in a specific operating mode.

[0033] The ON / OFF switching of the implement lock switch is detected, for example, by a switch. From this ON / OFF switching of the implement lock switch, the control unit 50 determines whether the implement lock switch is off, how often the implement lock switch has been pressed, and similar information. The ON / OFF switching of the semi-automatic excavation function is also detected, for example, by a switch. From this ON / OFF switching of the semi-automatic excavation function, the control unit 50 determines whether the semi-automatic excavation function is activated, how often it has been pressed, and similar information. The actuation of the steering lock lever is detected, for example, by a pressure switch. From this actuation of the steering lock lever, the control unit 50 determines whether the steering lock lever is released.

[0034] Semi-automatic excavation means excavation under semi-automatic control. In particular, semi-automatic excavation means that the excavation is carried out in a state in which manual operation of the boom lever and the bucket lever by the operator is permitted with automatic control to automatically lock the bucket 15 and the boom 14.

[0035] The locking mechanism 30 switches between locking and unlocking the operation of the vibration suppression device 40. The locking mechanism 30 restricts lateral movement of the operator seat 5S relative to the floor 5F when the operation of the vibration suppression device 40 is locked. When the operation of the vibration suppression device 40 is locked, the locking mechanism 30 restricts relative lateral movement, for example, between a plate PL1 attached to the floor 5F and a plate PL2 attached to the operator seat 5S.

[0036] In a state where the operation of the vibration suppression device 40 is unlocked, the locking mechanism 30 releases the restriction on the lateral movement of the operator seat 5S relative to the floor 5F. In a state where the operation of the vibration suppression device 40 is locked, the locking mechanism 30 releases the restriction on the relative lateral movement, for example, between the plate PL1 attached to the floor 5F and the plate PL2 attached to the operator seat 5S.

[0037] The PL1 plate can be indirectly connected to the floor 5F via the BL2 fastener, or it can be directly connected to the floor 5F. The PL2 plate can be indirectly connected to the operator seat 5S via the BL3 fastener, or it can be directly connected to the operator seat 5S.

[0038] As in Fig. As illustrated in Figure 3, plates PL1 and PL2 are arranged such that, in plan view, they overlap in an area, for example, when the wheel loader 1 is stopped. Plate PL1 has, for example, a notch NT on one side surface. Plate PL2 has, for example, a through-hole TH. In plan view, the through-hole TH has, for example, an elongated shape. The through-hole TH with an elongated shape has, for example, a long dimension in the left-right direction X and a short dimension in the front-back direction Z. The through-hole TH can also have a short dimension in the left-right direction X and a long dimension in the front-back direction Z. The through-hole TH can extend long in any direction in the plane that includes the left-right direction X and the front-back direction Z. The through hole TH can extend linearly in top view or can extend in a curved shape.

[0039] The notch NT and the through hole TH have sections that overlap in plan view. A pin PN1 is inserted into the through hole TH. The pin PN1 is displaceable within the through hole TH in a direction corresponding to the length of the through hole TH (for example, in the left-right direction X). The pin PN1 is movable between an inserted state, in which the pin PN1 is inserted into the notch NT by being pushed into the through hole TH, and a removed state, in which the pin PN1 has emerged from the notch NT.

[0040] As in Fig. As illustrated in Figure 4, the locking mechanism 30 includes, for example, the pin PN1, a changeover lever LE, an air cylinder AS, a control valve CB, and an air supply source SS. The pin PN is connected to the changeover lever LE. The air cylinder AS is connected to the changeover lever LE. The air cylinder AS can extend and retract laterally. The air supply source SS is connected to the air cylinder AS via the control valve CB. The air supply source SS is, for example, a compressor.

[0041] Control valve CB regulates the air supplied from air source SS to air cylinder AS. Control valve CB also regulates the air discharged from air cylinder AS. The actuation of control valve CB is controlled by a command stream from control unit 50.

[0042] The air cylinder AS extends and retracts laterally by supplying and extracting air. As the air cylinder AS extends and retracts laterally, the pin PN slides laterally (for example, left-right direction X) within the area of ​​the through-hole TH over the switching lever LE. This sliding action moves the pin PN1 between the inserted state, in which the pin PN1 is inserted into the notch NT, and the extended state, in which the pin PN1 has moved out of the notch NT.

[0043] As in Fig. As illustrated in Figure 3, in the inserted state, where the pin PN1 (dashed line) has been inserted into the notch NT of plate PL1, the relative movement of plate PL1 and plate PL2 in the front-back direction Z is restricted. This restricts the movement of the operator seat 5S in the front-back direction Z with respect to the floor 5F, as shown in Figure 3. Fig. 2 illustrates, and locks the operation of the vibration suppression device 40.

[0044] In contrast, as in Fig. Figure 3 illustrates that, in the extended state, where the pin PN1 (solid line) has emerged from the notch NT of plate PL1, the relative movement of plate PL1 and plate PL2 in the front-back direction Z is not restricted. Therefore, the movement of the operator seat 5S in the front-back direction Z with respect to the floor 5F is not restricted, as shown in Fig. 2 illustrated, not limited, and the operation of the vibration suppression device 40 is unlocked.

[0045] As in the Fig. 5 and Fig. As illustrated in Figure 6, the operation of the vibration suppression device 40 can be switched between locking and unlocking by moving the pin PN2 in the up-down direction Y. In this case, as shown in Fig. Figure 5 illustrates that the pin PN2 of the locking mechanism 30 is inserted into the through-hole TH1 of plate PL1 and the through-hole TH2 of plate PL2. The through-hole NT1 and the through-hole TH2 have sections that overlap in plan view when the wheel loader 1 is stopped. The pin PN2 can remain inserted in the through-hole TH2 or can be inserted into and removed from the through-hole TH2, provided that the pin PN2 can at least be inserted into and removed from the through-hole TH1.

[0046] As in Fig. As illustrated in Figure 6, the locking mechanism 30 includes, for example, the pin PN2, the air cylinder AS, the control valve CB, and the air supply source SS. The air cylinder AS is connected to the pin PN2. The air cylinder AS can extend and retract in the up-down direction. The air supply source SS is connected to the air cylinder AS via the control valve CB.

[0047] The air cylinder AS extends and retracts in an up-down direction by supplying and extracting air from it. The pin PN2 moves in the up-down direction Y as the air cylinder AS extends and retracts. The pin PN2 is inserted into and removed from the through-hole TH1 by this up-down movement in the Y direction.

[0048] In an installed state, where the pin PN2 has been inserted into the through-hole TH1 of the plate PL1, the relative movement of plate PL1 and plate PL2 in the lateral direction (for example, in the left-right direction X and in the front-back direction Z) is restricted. This restricts the lateral movement of the operator seat 5S with respect to the floor 5F, as shown in Fig. 2 illustrates, and locks the operation of the vibration suppression device 40.

[0049] In contrast, as in Fig. Figure 6 illustrates that, in a protruded state where the pin PN2 has protruded from the through-hole TH1 of plate PL1, the relative lateral movement of plate PL1 and plate PL2 is not restricted. Therefore, the lateral movement of the operator seat 5S with respect to the floor 5F is not restricted, as shown in Fig. 2 illustrated, not limited, and the operation of the vibration suppression device 40 is unlocked.

[0050] As in Fig. As illustrated in Figure 2, the fluid control device 42 is connected to the damping element 20 when the damping element 20 is active. The fluid control device 42 regulates the supply and discharge of fluid to and from the damping element 20. The fluid control device 42 is, for example, a two-way switching valve and is configured with a fast-acting electromagnetic valve. In response to a command signal from the controller 50, the fluid control device 42 switches between a path for supplying fluid from a fluid pump to one fluid chamber of the damping element 20 and a path for discharging fluid from the other fluid chamber of the damping element 20 into a fluid tank.

[0051] The control unit 50 receives vibration information from sensor 41 regarding the lateral vibrations acting on the operator seat 5S and controls the fluid adjustment device 42 to regulate the operation of the damping element 20 in such a way as to suppress the lateral vibrations. By actively moving the operator seat 5S against the lateral vibrations acting on it, the lateral vibrations of the operator seat 5S can be actively suppressed.

[0052] The fluid adjustment device 42 can, for example, be a variable throttle valve. Based on a control signal from the controller 50, the fluid adjustment device 42 changes the speed at which the fluid moves from one fluid chamber to the other, from the first fluid chamber 20a to the second fluid chamber 20b of the damping element 20. This adjusts the damping force of the damping element 20.

[0053] The damping element 20 can be of a type that includes a magnetorheological fluid and a coil and changes the damping force by causing a magnetic field generated by the excitation of the coil to act on the magnetorheological fluid. If the damping element 20 is of this type, the control unit 50 operates a current adjustment device to set the amount of current to be supplied to the coil. The operator's discomfort is further reduced by adjusting the damping force of the damping element 20 according to the strength or similarity of the vibrations of the operator's seat 5S in a lateral direction with respect to the floor 5F.

[0054] The controller 50 includes a processor, main memory, and storage. The processor, for example, is a central processing unit (CPU) or similar device. The main memory includes, for example, non-volatile memory such as read-only memory (ROM) and volatile memory such as random-access memory (RAM). The controller 50 reads a program stored in storage, loads the program into main memory, and executes a predefined process according to the program.

[0055] The control unit 50 is electrically connected to each of the sensor 41, the fluid adjustment device 42, and the locking mechanism 30. The control unit 50 detects vibration information about the lateral vibrations of the operator seat 5S, which are detected by the sensor 41. The control unit 50 controls the locking mechanism 30 based on the vibration information detected by the sensor 41. The control unit 50 switches between locking and unlocking the operation of the vibration suppression device 40 by the locking mechanism 30 based on a comparison between the vibration information detected by the sensor 41 and preset basic information for isolation operation.

[0056] The control unit 50 can be mounted on the wheel loader 1 or it can be located outside and at a distance from the wheel loader 1. If the control unit 50 is located outside and at a distance from the wheel loader 1, it can be wirelessly connected to the sensor 41, the fluid adjustment device 42, the locking mechanism 30, and the like. The control unit 50 can also be housed in a server located at a distance from the wheel loader 1.

[0057] As in Fig. As illustrated in Figure 7, the controller 50 includes a sensor information acquisition unit 51, a lock-out switching determination unit 52, a lock-out control unit 53, and a memory 54. The sensor information acquisition unit 51 acquires the vibration information detected by the sensor 41. Based on a comparison between the vibration information acquired by the sensor information acquisition unit 51 and the preset basic information for isolation operation, the lock-out switching determination unit 52 determines whether the vibration suppression device 40 should be locked by the locking mechanism 30. In making this determination, the lock-out switching determination unit 52 accesses basic information for isolation operation stored in the memory 54.

[0058] The vibration information includes, for example, at least one of the frequency and acceleration of the operator seat 5S vibrations in the lateral direction. If the vibration information is the frequency of the operator seat 5S vibrations in the lateral direction, the basic information for isolation operation serves as a reference value for the frequency of the operator seat 5S vibrations in the lateral direction. If the vibration information is the acceleration of the operator seat 5S vibrations in the lateral direction, the basic information for isolation operation serves as a reference value for the acceleration of the operator seat 5S vibrations in the lateral direction.

[0059] The vibration information can be, for example, an output signal from one or more elements selected from the group consisting of a work implement control lever, a drive lever, and a work mode selector switch. The basic isolation operation information can be the actuation value of each lever in a specific work mode, ON / OFF information of a switch, or the like. The basic isolation operation information can already be stored in memory 54 of the control unit 50 when the wheel loader 1 is sold, or it can be entered after the wheel loader 1 is sold. The basic isolation operation information can be entered into memory 54 using an input device installed outside the control unit 50 (e.g., a touch panel).

[0060] The locking control unit 53 controls the locking mechanism 30 based on the determination result of the locking switching determination unit 52. The locking control unit 53 controls the locking mechanism 30, for example, by outputting a command current to the locking mechanism 30. The locking control unit 53 controls the locking mechanism 30 such that the locking mechanism 30 switches between locking and unlocking the vibration suppression device 40.

[0061] As described above, the controller 50 executes a control action to unlock and activate the vibration suppression device 40 if, based on the vibration information, the frequency and acceleration of the vibrations of the operator's seat 5S in the lateral direction are high, if the controller 50 determines that the wheel loader 1 is in a specific operating mode, or if the controller 50 determines that there is an input by the operator. In cases other than those mentioned above, the controller 50 locks the vibration suppression device 40 and prevents it from being activated. Procedure for controlling a work vehicle

[0062] The following describes a procedure for controlling the work vehicle.

[0063] Fig. Figure 8 is a flowchart showing a method for controlling the work vehicle in one embodiment of the present disclosure. As shown in the Fig. 7 and Fig. As illustrated in Figure 8, sensor 41 detects vibration information about the lateral vibrations of the operator seat 5S. Sensor 41 outputs a signal to the controller 50 regarding the detected vibration information. The sensor information acquisition unit 51 of the controller 50 retrieves the vibration information about the lateral vibrations of the operator seat 5S from sensor 41 (step S1: Fig. 8).

[0064] The sensor information acquisition unit 51 outputs a signal to the lockout switching determination unit 52 with respect to the acquired vibration information. Based on a comparison between the acquired vibration information and the preset basic information for isolation operation, the lockout switching determination unit 52 determines whether the vibration suppression device 40 should be locked by the locking mechanism 30 (step S2: Fig. 8) In this determination, the blocking switching determination unit 52 accesses the basic information on isolation operation stored in memory 54.

[0065] The lock switching determination unit 52 outputs a signal indicating the determination result to the lock control unit 53. The lock control unit 53 controls the locking mechanism 30, for example, by outputting a command current to the locking mechanism 30. Based on the detected determination result, the lock control unit 53 controls the locking mechanism 30 such that the locking mechanism 30 switches between locking and unlocking the vibration suppression device 40. If the lock control unit 53 detects that the vibration suppression device 40 is not locked, the lock control unit 53 controls the locking mechanism 30 to unlock the vibration suppression device 40 (step S3: Fig. 8).

[0066] In particular, the locking control unit 53 of the control unit 50 controls the control valve CB so that the pin PN1 moves from the notch NT of the plate PL1 into the Fig. 3 and Fig. 4 emerges or that the pin PN2 from the through hole TH1 of the plate PL1 into the Fig. 5 and Fig. 6 emerges. This unlocks the vibration suppression device 40 and releases the restriction of the movement of the operator seat 5S in the lateral direction with respect to the floor 5F.

[0067] When the locking control unit 53 detects the determination result that the vibration suppression device 40 is locked, the locking control unit 53 controls the locking mechanism 30 so that it locks the vibration suppression device 40 (step S3: Fig. 8).

[0068] In particular, the locking control unit 53 of the control unit 50 controls the control valve CB so that the pin PN1 is in the notch NT of the plate PL1 in the Fig. 3 and Fig. 4 is used or that the pin PN2 is inserted into the through holes TH1 and TH2 in the Fig. 5 and Fig. 6 is used. This locks the vibration suppression device 40 and limits the lateral movement of the operator seat 5S in relation to the floor 5F. Effects

[0069] The effects of the present embodiment are described below.

[0070] In the present embodiment, as in Fig. Figure 2 illustrates how the locking and unlocking of the vibration suppression device 40 is switched by the locking mechanism 30 based on a comparison between the vibration information detected by the sensor 41 and the preset basic information for isolation operation. Thus, since the operation of the vibration suppression device 40 can be locked at a suitable time, the discomfort experienced by the operator during operation of the work vehicle 1 is reduced.

[0071] By unlocking the vibration suppression device 40, the vibrations of the operator's seat 5S in the lateral direction relative to the ground 5F can be suppressed. This reduces the physical strain on the operator due to vibrations while working with the work vehicle, leading to a reduction in operator fatigue after prolonged work.

[0072] In the present embodiment, the vibration information includes at least one of the frequency and acceleration of the vibrations of the operator seat 5S in the lateral direction. Thus, the locking mechanism 30 can be controlled based on the frequency and acceleration of the vibrations in the lateral direction. For example, if the frequency of the vibrations in the lateral direction is high (e.g., the frequency of the vibrations in the lateral direction is low) or if the acceleration of the vibrations in the lateral direction is high (e.g., the vibrations in the lateral direction are high), the vibrations in the lateral direction can be dampened early by unlocking the vibration suppression device 40.

[0073] In the present embodiment, the vibration information is an output signal from one or more elements selected from the group consisting of a work tool control lever, a drive lever, and a work mode changeover switch. Thus, the locking mechanism 30 can be controlled based on the actuation information of each lever and switch. For example, if the actuation information of the individual levers and switches indicates that a particular work mode is characterized by high lateral vibrations, these vibrations can be dampened early by unlocking the vibration suppression device 40.

[0074] In the present embodiment, as in Fig. Figure 2 illustrates that the damping element 20 of the vibration suppression device 40 is connected to both the operator seat 5S and the floor 5F. The vibrations of the operator seat 5S in a lateral direction relative to the floor 5F can be dampened by the damping element 20.

[0075] In the present embodiment, as in Fig. Figure 2 illustrates the fluid adjustment device 42 for adjusting the supply and discharge of fluid to and from the damping element 20. The supply and discharge of fluid to and from the damping element 20 are adjusted based on the vibration information detected by the sensor 41. This makes it possible to actively move the operator seat 5S against the lateral vibrations acting on the operator seat 5S and to actively suppress the lateral vibrations of the operator seat 5S. This further reduces operator discomfort.

[0076] In the present embodiment, the vibration suppression device 40, as shown in Fig. Figure 2 illustrates the elastic elements SP1 and SP2, which are connected to the operator seat 5S and the floor 5F, respectively. This allows the lateral vibrations of the operator seat 5S, which cannot be absorbed by the damping element 20, to be absorbed, thus enabling rapid damping of the vibrations. Additional remarks

[0077] The embodiments described above include the following technical ideas. Supplementary Note 1

[0078] A work vehicle that includes: an operator's seat; a vibration suppression device configured to suppress lateral movement of the operator seat; a locking mechanism configured to switch between locking and unlocking the operation of the vibration suppression device; a sensor configured to detect vibration information via lateral vibration of the operator seat; and a controller configured to switch between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset vibration baseline information for isolation operation. Supplementary Note 2

[0079] The work vehicle according to supplementary note 1, wherein the vibration information includes at least one of a frequency count and an acceleration of the vibrations of the operator's seat in a lateral direction. Supplementary Note 3

[0080] The work vehicle according to supplementary note 1, wherein the vibration information is an output signal from one or more elements selected from the group consisting of a work implement control lever, a drive lever and a work mode changeover switch. Supplementary note 4

[0081] The work vehicle according to one of the supplementary notes 1 to 3, which further includes: a floor configured to support the operator's seat, wherein the vibration suppression device includes a damping element that is connected to the operator's seat and the floor, respectively. Supplementary note 5

[0082] The work vehicle as described in supplementary note 4, further including a fluid adjustment device configured to adjust the supply and discharge of fluid to and from the damping element. Supplementary Note 6

[0083] The work vehicle according to supplementary note 4 or 5, wherein the vibration suppression device includes an elastic element that is connected to the operator's seat and the floor, respectively. Supplementary note 7

[0084] The work vehicle according to one of the supplementary notes 1 to 6, wherein the basic information for isolation operation is stored in the control unit. Supplementary Note 8

[0085] A system that includes a work vehicle, wherein the work vehicle includes: an operator's seat; a vibration suppression device configured to suppress lateral movement of the operator seat; a locking mechanism configured to switch between locking and unlocking the operation of the vibration suppression device; a sensor configured to detect vibration information via lateral vibration of the operator seat; and a controller configured to switch between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset vibration information for isolation operation. Supplementary note 9

[0086] A method for controlling a work vehicle comprising an operator seat, a vibration suppression device that suppresses lateral movement of the operator seat, and a locking mechanism that switches between locking and unlocking the operation of the vibration suppression device, wherein the method includes: one step of capturing vibration information via a lateral vibration of the operator's seat; and a step of switching between locking and unlocking the operation of the vibration suppression device by the locking mechanism based on a comparison between the detected vibration information and preset vibration base information for isolation operation.

[0087] It is understood that the embodiment disclosed herein is in every respect exemplary and not limiting. The scope of protection of the present invention is defined by the terms of the claims and not by the preceding description and is intended to include all modifications within the scope and meaning that correspond to the content of the claims. Reference symbol list

[0088] 1 Wheel loader, 2 Chassis, 3 Working attachment, 4 Front wheel, 5 Operator's cab, 5F Floor, 5S Operator's seat, 6 Engine compartment, 7 Rear wheel, 9 Steering cylinder, 10 Vehicle body frame, 11 Front frame, 12 Rear frame, 13 Coupling shaft section, 14 Boom, 15 Bucket, 16 Lift cylinder, 17 Bucket cylinder, 18 Angle lever, 20 Damper element, 30 Locking mechanism, 40 Vibration suppression device, 41 Sensor, 42 Fluid adjustment device, 50 Control, 51 Sensor information acquisition unit, 52 Lock switching determination unit, 53 Locking control unit, 54 Accumulator, AS Air cylinder, BL1, BL2, BL3 Fastening element, CB Control valve, LE Switching lever, NT1, TH, TH1, TH2 Through hole, PL1, PL2 Plate, PN1, PN2 Pin SP1, SP2 Elastic element, SS Air supply source QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-123122

[0003] JP 2021-123122 A

[0004]

Claims

Work vehicle comprising: an operator seat; a vibration suppression device configured to suppress lateral movement of the operator seat; a locking mechanism configured to toggle between locking and unlocking the operation of the vibration suppression device; a sensor configured to detect vibration information about lateral vibration of the operator seat; and a controller configured to toggle between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset vibration baseline information for isolation operation. Work vehicle according to claim 1, wherein the vibration information is at least one of a frequency count and an acceleration of the vibrations of the operator's seat in a lateral direction. Work vehicle according to claim 1, wherein the vibration information is an output signal of one or more elements selected from the group consisting of a work implement control lever, a drive lever and a work mode change switch. Work vehicle according to claim 1, further comprising: a floor configured to support the operator's seat, wherein the vibration suppression device includes a damping element connected to the operator's seat and the floor, respectively. Work vehicle according to claim 4, further comprising: a fluid adjustment device configured to adjust the supply and discharge of fluid to and from the damping element. Work vehicle according to claim 4, wherein the vibration suppression device includes an elastic element that is connected to the operator's seat and the floor, respectively. Work vehicle according to claim 1, wherein the basic information for isolation operation is stored in the control unit. System comprising a work vehicle, the work vehicle comprising: an operator seat; a vibration suppression device configured to suppress lateral movement of the operator seat; a locking mechanism configured to toggle between locking and unlocking the operation of the vibration suppression device; a sensor configured to detect vibration information about lateral vibration of the operator seat; and a controller configured to toggle between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset vibration baseline information for isolation operation. Method for controlling a work vehicle comprising an operator seat, a vibration suppression device that suppresses lateral movement of the operator seat, and a locking mechanism that switches between locking and unlocking the operation of the vibration suppression device, the method comprising: a step of acquiring vibration information about lateral vibration of the operator seat; and a step of switching between locking and unlocking the operation of the vibration suppression device by the locking mechanism based on a comparison between the acquired vibration information and preset vibration base information for isolation operation.

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