Work Vehicle Bucket Control for Variable Excavation Patterns
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Solution Overview
Problem
Conventional automatic control for wheel loaders is limited to a single excavation pattern, failing to efficiently execute various excavation patterns such as deep, medium, or shallow penetration into the ground, and is not adaptable to different excavation objects with appropriate fuel efficiency.
Innovation Solution
A work vehicle equipped with sensors to detect acceleration, lift amount, and tilt amount, controlled by a controller that adjusts the lift and tilt operations based on specific conditions to execute various excavation patterns, including insertion, acceleration, and deceleration controls to enhance excavation efficiency and fuel efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional automatic control ends tilt and lift operations based on predetermined lift force increase, then a single excavation pattern can be executed automatically, but various excavation patterns (deep, medium, shallow penetration) cannot be executed automatically
Solution Approach 1:
The control system dynamically adjusts excavation parameters based on real-time acceleration detection. The controller switches between different excavation patterns (deep, medium, shallow penetration) by detecting acceleration signs during insertion and lift periods, making the system adaptable to various excavation requirements without fixed predetermined patterns
Solution Approach 2:
The system uses acceleration sensors to provide real-time feedback on vehicle motion during excavation. By monitoring acceleration signs and changes, the controller automatically adjusts tilt and lift operations to execute different excavation patterns, enabling versatile automatic control without requiring complex manual intervention
2Productivity
If a fixed excavation pattern is used, then automatic execution is simple, but the work machine fails to excavate with various excavation patterns and appropriate fuel efficiency
Solution Approach 1:
The system dynamically selects and adjusts excavation patterns based on real-time acceleration feedback. During the insertion period, when acceleration becomes negative, the controller keeps tilt amount and increases lift amount. During the lift period, the controller adjusts parameters based on acceleration signs to achieve deep, medium, or shallow penetration patterns, optimizing both productivity and adaptability
Solution Approach 2:
The control system changes operational parameters (tilt amount, lift amount, acceleration thresholds) based on detected acceleration patterns. By adjusting these parameters dynamically during different phases (insertion period, lift period), the system achieves various excavation patterns with appropriate fuel efficiency while maintaining high productivity
Data Source
AI summary
Provided is a work vehicle capable of excavating an excavation object efficiently and in various excavation patterns with appropriate fuel efficiency, regardless of the operator's skill level. The work vehicle includes a controller. The controller executes control including insertion control, acceleration control, and deceleration control. The insertion control keeps the tilt amount (stroke amount S2) of the bucket and increases the lift amount (stroke amount S1) of the lift arm in the insertion period Ph1 from the timing when the work vehicle meets an entry condition for object, where the acceleration α of the vehicle becomes negative, to the timing when the acceleration α first becomes positive. The acceleration control keeps the tilt amount and increases the lift amount if the acceleration condition that the acceleration α becomes positive is met in the lift period Ph2 from the timing when the work vehicle first meets the insertion condition to the timing when the end condition is met, where the lift amount and the tilt amount reach their specified values. The deceleration control keeps the lift amount and increases the tilt amount when the deceleration condition that the acceleration α becomes negative is met in the lift period Ph2.