JP2001271387A - Operating machine control device for excavator-loader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating machine control device for an excavator- loader which always determines the start of an excavation control at appropriate timing. SOLUTION: The device has an excavation state detecting means for detecting the state of excavation of a vehicle. A controller has a load determining part which determines whether or not the vehicle is in the course of excavation, on the basis of a detected amount inputted from the excavation state detecting means, and an automated excavation control means which sets an instruction value of automated excavation on the basis of the determination of the load determining part and outputs it to each control valve. When a boom lever is operated and the load determining part determines that the vehicle is in the course of excavation, the automated excavation control means determines the start of the automated excavation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine control device for an excavating and loading machine having a working machine at a front portion of a vehicle.

[0002]

2. Description of the Related Art As a construction machine for digging and loading, a bucket is provided at a front portion of a vehicle body, and a work such as crushed rock or earth and sand is mainly digged by a bucket and loaded on a dump truck or the like. There is a wheel loader. FIG.
Shows a side view of the wheel loader. In FIG. 9, the wheel loader 1 has a boom 3 attached to a front portion of a movable vehicle body 2 so as to be able to move up and down, and a bucket 4 pivotally attached to a tip end of the boom 3 so as to be vertically rotatable. A work machine 5 is provided. The operation of the boom 3 and the bucket 4 is performed by respective operation levers (not shown) provided in a cab 7 mounted on the vehicle body 2. When the load 6 is excavated and loaded into the bucket 4, the boom operation and the bucket operation are performed alternately while the vehicle moves forward on the pile of the load 6. In the bucket operation, rotating the bucket 4 clockwise in FIG. 9 about the pin 8 is referred to as tilting.

[0003] In such excavation work, there is a technique for semi-automatically controlling the bucket angle of the bucket 4 in accordance with a change in the boom angle of the boom 3 to improve the work efficiency. This is shown in Japanese Patent Application No. 10-288859 filed by the same applicant as the present invention. According to the same issue,
The relationship between the bucket angle and the boom angle at the time of excavation is stored in advance, and control is performed so that the relationship between the bucket angle and the boom angle operated by the operator is stored from the time when the control start signal is input from the operator. ing. That is, the bucket angle is controlled so that the detected amount of the bucket angle detector becomes the stored target bucket angle.

[0004]

However, the prior art has the following problems. According to the prior art, the operator decides to start control,
A skilled operator can appropriately determine the control start timing and improve the efficiency of excavation work. However, according to an operator with low skill, it is difficult to appropriately determine the excavation start time, and the work efficiency is not improved because the determination of the control start time is not appropriate, or the work efficiency is reduced by the control. There's a problem.

The present invention has been made in view of the above problems, and has as its object to provide a work machine control device for an excavation loading machine that always determines the start of excavation control at an appropriate timing.

[0006]

In order to achieve the above object, a first aspect of the present invention provides a boom cylinder for controlling a boom lift, a boom control valve for controlling expansion and contraction of the boom cylinder, and a boom cylinder. Boom lever that commands the expansion / contraction speed of the boom lever, a boom lever operation amount detector that detects the operation amount of the boom lever, a bucket cylinder that controls the tilt of the bucket, a bucket control valve that controls the expansion / contraction of the bucket cylinder, and a bucket cylinder Lever for instructing the expansion / contraction speed of the bucket, a bucket lever operation amount detector for detecting the operation amount of the bucket lever, and a boom control command value based on the boom lever operation amount input from the boom lever operation amount detector Output from the bucket lever operation amount detector and the bucket based on the bucket lever operation amount input from the bucket lever operation amount detector. A work machine control device for a digging and loading machine, comprising: a controller that outputs a control command value to a bucket control valve; and a digging state detecting unit that detects a digging state of the vehicle. A load determining unit that determines whether the vehicle is excavating based on the detected amount, and an automatic excavation control that sets and outputs an automatic excavation command value to each control valve based on the determination of the load determining unit. Means, and when the load determining unit determines that the boom lever is operated and the vehicle is excavating, the automatic excavation control means determines the start of automatic excavation.

According to the first aspect, the load judging section judges that the load acting on the vehicle from the bucket is equal to or greater than a predetermined value, and starts automatic excavation when the operator operates the boom lever. The operation pattern of "operating the boom lever to raise the bucket" performed by the skilled operator at the start of the excavation is incorporated into the control flow, and it is determined that the excavation has started when this operation is performed. Start timing can be detected.

A second invention is based on the work equipment control device for an excavator loading machine according to the first invention, wherein the excavation state detecting means includes a vehicle speed detector for detecting a vehicle speed and an engine speed detector for detecting an engine speed. The load determination unit is configured to determine that the vehicle is being excavated when the vehicle speed is equal to or less than a value indicated by a predetermined curve related to the engine rotation speed.

According to the second aspect, when the vehicle speed is equal to or less than the value indicated by the predetermined curve corresponding to the engine speed, it is determined that the load on the vehicle is large and the vehicle speed does not increase, that is, it is determined that the vehicle is being excavated. Since the predetermined curve is a curve set by collecting vehicle speed data during excavation at the time of excavation by a skilled operator, it is possible to reliably determine that excavation is in progress.

According to a third aspect of the present invention, the excavation state detecting means detects an accelerator pedal operation amount detector for detecting an accelerator pedal operation amount and an engine rotation speed based on the work equipment control device for an excavator loading machine of the first invention. The load determining unit determines that the vehicle is excavating when the accelerator pedal operation amount is equal to or more than a predetermined operation amount and the engine rotation speed is equal to or less than the predetermined rotation speed.

According to the third aspect, when the accelerator pedal operation amount is equal to or greater than the predetermined operation amount and the engine speed is equal to or lower than the predetermined rotation speed, the load on the vehicle is large even though the accelerator pedal is depressed. It is determined that the engine speed does not increase, that is, the vehicle is being excavated. Since the predetermined operation amount and the predetermined rotation speed are values set by collecting accelerator pedal operation amount data and engine rotation speed data during excavation by a skilled operator, it is possible to reliably determine that excavation is being performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment according to the present invention will be described in detail with reference to the drawings. First, FIGS.
The first embodiment will be described with reference to FIG. FIG. 1 shows a side view of the working machine 5 of the wheel loader 1. The base end of the boom 3 is rotatably attached to the vehicle body 2 by a pin 7, and the vehicle body 2 and the boom 3 are connected by a boom cylinder 10. When the boom cylinder 10 is extended, the boom 3 rotates around the pin 7 and rises, and when it contracts, it descends. A bucket 4 is rotatably attached to the tip of the boom 3 by a pin 8, and the bucket 4 and the boom 3 are connected by a bucket cylinder 11 via a link 9. The bucket 4 tilts when the bucket cylinder 11 is extended, and dumps when the bucket cylinder 11 is contracted.

In the working machine 5 as described above, the boom angle θm is determined by the line AA connecting the pin 7 and the pin 8 and the pin 7
Is formed by an angle θm formed with a vertical line BB passing through. A boom angle detector 40 for detecting a boom angle θm is attached to a pin 7 at the base end of the boom 3. Boom angle θm
Detects the clockwise direction in FIG. 1 around the pin 7 as a positive angle with the vertical line BB as zero degree. Further, a stroke end detector 46 for detecting a stroke end of the bucket cylinder 11 is attached to the bucket cylinder 11. FIG. 2 shows a control system diagram of the automatic excavation control device of the present embodiment. A hydraulic pilot type boom control valve 13 and a bucket control valve 14 interposed on the discharge circuit 16 of the working machine hydraulic pump 12 are connected to the boom cylinder 10 and the bucket cylinder 11, respectively, to form a tandem circuit. I have. The boom control valve 13 has an A (boom up) position, a B (neutral) position, a C (boom down) position,
The bucket control valve 14 is a three-position switching valve having an E (tilt) position, an F (neutral) position, and a G (dump) position.

Boom control valve 13 and bucket control valve 14
Are connected to a pilot pump 15 via an electromagnetic proportional command valve 20, respectively. The electromagnetic proportional command valve 20 includes a boom lowering command valve 21, a boom raising command valve 22, a bucket dump command valve 23, and a bucket tilt command valve 24. The boom lowering command valve 21 and the boom raising command valve 22 are connected to each pilot pressure receiving portion of the boom control valve 13, and the bucket dump command valve 23 and the bucket tilt command valve 24 are connected to each pilot pressure receiving portion of the bucket control valve 14. Have been. Further, respective command signals from the controller 25 are input to the solenoid command portions of the respective command valves 21, 22, 23 and 24.

A boom lever operation amount detector 31 for detecting a boom lever operation amount Em is attached to the boom lever 30, and a bucket lever operation amount detector for detecting a bucket lever operation amount Et is mounted on the bucket lever 32. 33 are attached, and each detection signal is sent to the controller 2
5 has been entered. The controller 25 receives the boom angle θm from the boom angle detector 40, the engine speed Ne from the engine speed detector 43, and the vehicle speed V from the vehicle speed detector 44, respectively. The engine speed detector 43 and the vehicle speed detector 44
Is means for detecting the excavation state of the vehicle.

An operation panel (not shown) on the side of the cab includes:
An auto tilt setting switch 36 for setting whether or not to perform automatic excavation control operated by an operator is provided. An auto tilt signal Ca output from the auto tilt setting switch 36 is input to the controller 25. The auto tilt signal Ca outputs an ON signal “1” when the operator performs an ON operation. When the on operation is not performed, an off signal “0” is output. The bucket lever 32 is provided with a kick-down switch 35 capable of shifting from the second forward speed to the first forward speed without operating a shift lever (not shown). When the operator turns on the kick down signal Ck, the kick down signal Ck turns on the signal “1”.
Is output to the controller 25 and a shift control device (not shown) is instructed to shift to the first forward speed. When the on operation is not performed, the kick down signal Ck outputs the off signal “0”. From the stroke end detector 46,
When the stroke end signal Ce is input to the controller 25 and the stroke of the bucket cylinder 11 reaches a predetermined distance (for example, 5 mm) to the stroke end, the stroke end signal Ce outputs an ON signal “1”. When the distance does not reach the predetermined distance, an off signal “0” is output.

Further, a forward / backward detector 47 is attached near a forward / backward lever (not shown) for instructing forward / backward movement by the operator, and a forward signal Cf is input to the controller 25 from the forward / backward detector 47. I have. The forward signal Cf outputs an ON signal “1” during forward travel. Note that an off signal “0” is output during neutral and reverse travel. Further, a mode selection button 42 operated by an operator to select an optimum excavation mode from soil properties, work conditions, and the like is provided on an operation panel (not shown) on the side of the driver's cab. The operator gives the off signal “0” when the load 6 is soft and the excavation resistance is small, and turns on the signal “1” when the load 6 is hard and the excavation resistance is large.
Is input from the mode selection button 42, and the selection signal Cc is input to the controller 25.

Next, the operation in the case of normal operation without turning on the automatic tilt setting switch 36 will be described with reference to FIG. When the operator operates the boom lever 30 or the bucket lever 32, the controller 25 receives the boom lever operation amount Em and the bucket lever operation amount Et from the boom lever operation amount detector 31 and the bucket lever operation amount detector 33, and outputs the controller 25 Reference numeral 25 designates a work machine speed control command corresponding to the operation amount signal to each command valve 2.
1, 22, 23 and 24. Each command valve 21, 2
2, 23 and 24 output the respective pilot hydraulic pressures corresponding to the magnitude of the work machine speed control command to the corresponding pilot pressure receiving portion of the boom control valve 13 or the bucket control valve 14. Thereby, the boom cylinder 10 or the bucket cylinder 11 operates in a corresponding direction at a speed corresponding to the respective pilot oil pressure.

Next, the operation of the automatic excavation control device according to this embodiment will be described with reference to the control flowchart of the controller 25 shown in FIGS. 3 and 5 and the excavation area explanatory diagram shown in FIG. Note that the step numbers of the respective processes in the control flowchart are denoted with S, and S1 to S6 are shown in FIG.
5 are shown in FIG. At S1, (1) the auto-tilt signal Ca is the ON signal “1”, (2) the forward signal Cf is the ON signal “1”, and (3) the boom angle θm is smaller than a predetermined boom angle lower limit θm1, ( 4) Kickdown signal Ck
Is satisfied, the process proceeds to step S2 if all of the following items are satisfied: ON signal "1", (5) boom lever operation amount Em is greater than predetermined boom lever operation amount lower limit value Em1. If at least one of the five items is not satisfied, the process of S1 is repeated. When the boom lever operation amount Em is equal to or less than the boom lever operation amount lower limit value Em1, the command value to the control valve is zero, and is larger than the boom lever operation amount lower limit value Em1 and is larger than a predetermined boom lever operation amount upper limit value Em2. When it is small, the control command value to the boom command valves 21 and 22 increases according to the operation amount, and the boom lever operation amount upper limit E
When m2 or more, the control command value to the boom command valves 21 and 22 holds the control command value at the time of the boom lever operation amount upper limit value Em2.

At S2, the vehicle speed V is increased to a predetermined engine coefficient k.
Is smaller than the product of the engine speed Ne and the engine speed Ne. The engine coefficient k is, as shown in FIG.
Is smaller than the above-mentioned product, it is under excavation, and when the vehicle speed V is not less than the product, it is a slope of a straight line that distinguishes that it is not under excavation. The engine coefficient k is a value set by collecting vehicle speed data during excavation at the time of excavation by a skilled operator. When the vehicle speed V is smaller than the above product, S
The process moves to the process of step S3. If the product is equal to or larger than the product, S2 is repeated. Note that S2 is referred to as a load first determination unit 48. In S3, it is determined whether the boom lever operation amount Em is larger than the boom lever operation amount upper limit Em2. If it is larger, the process proceeds to S4, where the boom lever operation amount upper limit value Em2
In the following cases, the process proceeds to S7. In S4, it is determined whether or not the boom angular velocity θmd is a zero value. If the boom angular velocity θmd is the zero value, the process proceeds to S7. If not, the process proceeds to S6.

At S6, a boom control command value Vm having the value of the boom lever operation amount Em and a bucket lever operation amount E
The bucket control command value Vt having the value t is output to the electromagnetic proportional command valve 20, and the process returns to S2. In S7, it is determined whether the boom lever operation amount Em is smaller than the boom lever operation amount lower limit Em1. If the value is smaller, the process proceeds to S8, where the boom lever operation amount lower limit value Em1 is set.
In the above case, the process proceeds to S11. The steps from S7 to S15 are referred to as automatic excavation control means 51. At S8,
The zero value boom control command value Vm is output to the electromagnetic proportional command valve 20, and the process proceeds to S9. In S9, a product of a value obtained by dividing the high idle rotation speed Nem of the engine by the engine rotation speed Ne and a predetermined bucket flow coefficient αt is set as a bucket flow addition value Qt. Since the bucket flow coefficient αt is a value indicated by%, the bucket flow addition value Qt is also a value indicated by%. Then, a value obtained by adding the bucket flow rate addition value Qt to the bucket lever operation amount Et is used as the bucket control command value Vt.
Is set, and the process proceeds to S10.

In S10, the product of the value obtained by dividing the high idle speed Nem of the engine by the engine speed Ne and a predetermined boom flow coefficient αm is set as a boom flow change value Qm. Since the boom flow coefficient αm is a value indicated by%, the boom flow change value Qm is also a value indicated by%. Then, the bucket control command value Vt having the value of the boom flow rate change value Qm is output to the electromagnetic proportional command valve 20, and the process proceeds to S11. S
At 11, a bucket flow variable αtv that changes according to the boom lever operation amount Em is calculated. Next, the product of a value obtained by dividing the high idle rotation speed Nem of the engine by the engine rotation speed Ne and the calculated bucket flow variable αtv is set as a bucket flow addition value Qt. Then, a value obtained by adding the bucket flow rate addition value Qt to the bucket lever operation amount Et is set as the bucket control command value Vt, and the process proceeds to S12.

At S12, it is determined whether or not mode selection signal Cc is off signal "0". If the OFF signal is "0", S
Move to the process of 13. If the off signal is not "0", S14
Move on to processing. At S13, the bucket control command value Vt set at S9 or S11 is changed to a predetermined time T1 (for example, 5).
(Seconds) to the electromagnetic proportional command valve 20, and the process proceeds to S15. In S14, the pulse having the bucket control command value Vt set in S9 or S11 and the pulse having the predetermined tilt-on time ΔT is generated twice in the tilt cycle T2 by the electromagnetic proportional command valve 2.
The value is output to 0 and the process proceeds to S15. At S15, (1)
The forward signal Cf is an off signal “0”, (2) the stroke end signal Ce is an on signal “1”, (3) the boom angle θm is larger than a predetermined boom angle upper limit θm2, and (4) the number of tilts Nt is a predetermined value. Is equal to or greater than the tilt count threshold Ntm of
When at least one of the items is satisfied, the automatic excavation control is completed. If all four items are not satisfied, the process returns to S7. Note that the number of tilts Nt is the number of times the process of S7 is executed.

Here, an operation pattern at the start of excavation by a skilled operator will be described. When the operator cuts the blade edge of the bucket 4 of the vehicle 1 into the load 6, the horizontal resistance force applied to the vehicle body from the blade edge increases, and the vehicle speed V decreases. When the vehicle speed V reaches the excavation area indicated by the hatched portion in FIG. 4, the skilled operator firstly sets the boom lever 3
0 is operated to raise the boom 3 to reduce the horizontal resistance.

Next, the operation and effect of this embodiment will be described. In the control flowchart, the auto tilt setting switch 36 is turned on, the forward / reverse lever is at the forward position, and the boom angle θm is set to the boom angle lower limit value θm1.
When the kick-down switch 35 is turned on and the boom lever operation amount Em is larger than the boom lever operation amount lower limit Em1, the vehicle speed V enters the excavation area shown by the hatched portion in FIG. (S1,
S2) When the vehicle speed V enters the excavation area, the controller 25 determines whether or not the operator operates the boom lever 30 larger than the boom lever operation amount upper limit Em2 to raise the boom 3 quickly. Do (S
3). The excavation area is set based on actual vehicle data obtained during excavation by a skilled operator. When the boom lever 30 is operated larger than the boom lever operation amount upper limit Em2, the controller 25 determines whether or not the hydraulic circuit of the boom 3 is relieved based on whether or not the boom angular velocity θmd is a zero value. (S4). If the hydraulic circuit is relieved despite the fact that the boom lever 30 is largely operated to raise the boom 3, the horizontal resistance cannot be reduced because the boom 3 is no longer raised. Then, the process proceeds to the step of starting automatic excavation control in order to reduce the horizontal resistance by tilting the bucket 4.

When the hydraulic circuit of the boom 3 is not relieved, the boom control command value Vm having the value of the boom lever operation amount Em and the bucket control command value Vt having the value of the bucket lever operation amount Et are transmitted to the electromagnetic proportional command valve 20. To operate the boom and bucket according to the amount of lever operation by the operator. Then, it is determined whether or not the vehicle speed V is still in the excavation area.

When the horizontal resistance increases and the vehicle speed V enters the excavation area, and the bucket 4 does not rise even though the boom lever operation amount Em is operated more than the boom lever operation amount upper limit Em2, It is determined that the cutting edge of the bucket 4 has cut into the hard ground, and automatic digging control is started. Also, when the vehicle speed V is in the excavation area and the operator has no intention to raise the boom 3 greatly, and the boom lever operation amount Em is equal to or less than the boom lever operation amount upper limit Em2, the automatic excavation control is started. .

When the start of the automatic excavation control is determined, the boom lever operation amount Em becomes the boom lever operation amount lower limit Em1.
In the following cases (S7), the operator determines that there is no intention to raise the boom 3 and outputs a zero-value boom control command value Vm to the command valves 21 and 22 so as not to raise the boom 3 (S8). The bucket control command value Vt is a value obtained by adding the bucket flow rate addition value Qt to the bucket lever operation amount Et, and calculates the bucket flow rate addition value Qt that becomes larger as the engine speed Ne decreases. Then, a bucket control command value Vt obtained by adding the calculated bucket flow rate addition value Qt to the bucket lever operation amount Et is set as a command value to the command valves 23 and 24 for operating the bucket 4. When the calculated bucket control command value Vt becomes a value equal to or more than 100%, it is set to 100% (S9).

When the boom lever operation amount Em is larger than the boom lever operation amount lower limit Em1, the boom flow rate change value Qm is output to the command valves 21 and 22 as the boom control command value Vm instead of the boom lever operation amount Em. To raise the boom 3. The boom flow rate change value Qm is calculated so as to increase as the engine rotation speed Ne decreases. When the calculated boom flow rate change value Qm becomes a value of 100% or more, the value is set to 100%. Then, the calculated boom flow rate change value Qm is set to the boom control command value Vm (S10). On the other hand, a bucket flow variable αtv that changes according to the boom lever operation amount Em is obtained,
The product of the value obtained by dividing the high idle speed Nem of the engine by the current engine speed Ne and the bucket flow variable αtv is defined as the bucket flow addition value Qt. Then, a value obtained by adding the bucket flow rate addition value Qt to the bucket lever operation amount Et is set as the bucket control command value Vt (S11).

Next, the mode selection signal Cc inputted from the mode selection button 42 operated by the operator is judged (S
12). The off signal “0” is input to the controller 25 when the load 6 is low in excavation resistance, and the on signal “1” is input when the load 6 is hard and excavation resistance is high. When the mode selection signal Cc is the off signal “0”, the preset bucket control command value Vt is changed to a predetermined time T1 (for example, 5 seconds).
Is output to the command valves 23 and 24 to tilt the bucket 4 at a speed corresponding to the bucket control command value Vt and an angle corresponding to the time T1 (S13). When the ON signal is “1”, the preset bucket control command value Vt is output twice to the command valves 23 and 24 by a predetermined ΔT twice in a pulsed manner, and the bucket 4 is tilted while vibrating (S1).
4). Note that the boom control command value Vm and the bucket control command value Vt are called automatic digging command values. Then, when the stroke end signal Ce is the ON signal “1”, the automatic excavation control is completed (S15).

In the present embodiment, whether or not excavation is being performed is determined by a straight line related to the engine speed as shown in FIG. 4, but it may be a curved line instead of a straight line.

Next, a second embodiment will be described with reference to FIGS. In the control system diagram shown in FIG. 6, an accelerator pedal operation amount detector 45 for detecting an accelerator pedal operation amount A is provided instead of the vehicle speed detector 44 in the control system diagram of FIG. 2 described in the first embodiment, The detected accelerator pedal operation amount A is input to the controller 25. The components other than the accelerator pedal operation amount detector 45 are the same as those in FIG. 2, and the description is omitted here. Note that the accelerator pedal operation amount detector 45 is an excavation state detecting unit that detects an excavation state of the vehicle. The control flowchart of this embodiment is different from the first embodiment only in that the load first determination unit 48 of FIG. 3 is changed to the load second determination unit 49 shown in FIG. 7, and the remaining flow is the same as that of FIG. is there. The load second determination unit 49 includes a processing step S16. (1) When the accelerator pedal operation amount A is equal to the accelerator pedal operation amount threshold Aj
If the two items of (2) the engine rotation speed Ne are smaller than the engine rotation speed threshold Nej are satisfied, the process proceeds to S3 in FIG. If even one item is not satisfied, the process of S16 is repeated. The accelerator pedal operation amount threshold Aj and the engine rotation speed threshold Nej are values set by collecting accelerator pedal operation amount data and engine rotation speed data during excavation by a skilled operator,
It is stored in the controller 25 in advance. FIG. 8 shows the relationship between the values. It is determined that excavation is being performed when the engine rotation speed Ne does not increase despite the accelerator pedal being depressed to the accelerator pedal operation amount threshold Aj.

The operation and effect of this embodiment will be described. Skilled operator's operation that indicates when the accelerator pedal operation amount A and the engine rotation speed Ne have entered the excavation area and the boom lever operation amount Em is equal to or greater than the boom lever operation amount lower limit Em1 as an indication of excavation start intention. Excavation control can always be started at an appropriate timing because the procedure is taken in. The operation and effect in the processing method after the automatic excavation control is started are the same as those in the first embodiment, and thus the description is omitted.

As described above, according to the present invention, automatic excavation is performed when the load acting on the vehicle from the bucket is equal to or greater than a predetermined value and the boom angular velocity is zero despite the boom lever being operated substantially at full stroke. To start. Automatic excavation is also started when the operation amount of the boom lever is reduced after the operation of the boom lever is performed substantially at full stroke. The operation pattern of "operating the boom lever to raise the bucket" performed by the skilled operator at the start of the excavation is incorporated into the control flow, and it is determined that the excavation has started when this operation is performed. Start timing can be detected.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a working machine according to a first embodiment.

FIG. 2 is a control system diagram according to the first embodiment.

FIG. 3 is an excavation start determination unit in a control flowchart according to the first embodiment.

FIG. 4 is an explanatory diagram of an excavation area indicated by a vehicle speed and an engine rotation speed.

FIG. 5 is an automatic excavation control unit in a control flowchart according to the first embodiment.

FIG. 6 is a control system diagram according to a second embodiment.

FIG. 7 is a decision circuit during excavation according to the second embodiment.

FIG. 8 is an explanatory diagram of an excavation area indicated by an accelerator pedal operation amount and an engine rotation speed.

FIG. 9 is a side view of the wheel loader.

[Explanation of symbols]

1 ... wheel loader, 3 ... boom, 4 ... bucket, 5 ...
Work machine, 6 ... Load, 10 ... Boom cylinder, 11 ... Bucket cylinder, 12 ... Work machine hydraulic pump, 13 ... Boom control valve, 14 ... Bucket control valve, 20 ... Electromagnetic proportional command valve, 21 ... Boom lift command valve , 22 ... Boom down command valve, 23 ... Bucket dump command valve, 24 ... Bucket tilt command valve, 25 ... Controller, 30 ... Boom lever, 31 ... Boom lever operation amount detector, 32 ... Bucket lever, 33 ... Bucket lever operation Amount detector, 35 ... Kick down switch, 36 ... Auto tilt setting switch, 40 ... Boom angle detector, 41 ... Bucket angle detector, 42 ... Mode selection button, 43 ... Engine speed detector, 44 ... Vehicle speed detector , 45: accelerator pedal operation amount detector, 46: stroke end detector, 47: forward / backward movement detector, 48: load first Cross section, 49 ... load second determination unit,
51: automatic excavation control means, V: vehicle speed, Ne: engine rotation speed, θm: boom angle, θt: bucket angle, θm
d: Boom angular velocity, Em: Boom lever operation amount, Et:
Bucket lever operation amount, Qm: boom flow rate change value, Qt
... Bucket flow rate addition value, Vm ... Boom control command value, Vt
... bucket control command value, Cf ... forward signal, Ca ... auto tilt signal, Ce ... stroke end signal, Ck ... kickdown signal, Cs ... semi-auto excavation signal, Cc ... mode selection signal, k ... engine coefficient, A ... accelerator pedal Operation amount, Aj: accelerator pedal operation amount threshold, Nt: number of tilts, αm: boom flow coefficient, αt: bucket flow coefficient, αtv: bucket flow variable, Nej: engine rotation speed threshold.

Claims (3)

[Claims] 1. A boom cylinder for controlling a lift of a boom, a boom control valve for controlling the expansion and contraction of the boom cylinder, a boom lever for instructing an expansion and contraction speed of the boom cylinder, and a boom lever operation for detecting an operation amount of the boom lever An amount detector, a bucket cylinder for controlling the bucket tilt, a bucket control valve for controlling the expansion and contraction of the bucket cylinder, a bucket lever for instructing the expansion and contraction speed of the bucket cylinder, and a bucket lever operation for detecting the operation amount of the bucket lever A boom control command value is output to the boom control valve based on the boom lever operation amount input from the boom lever operation amount detector, and a bucket is output based on the bucket lever operation amount input from the bucket lever operation amount detector. And a controller for outputting a control command value to the bucket control valve. The work machine control device for a loading machine, further comprising: an excavation state detection unit configured to detect an excavation state of the vehicle, wherein the controller determines whether the vehicle is excavating based on the detection amount input from the excavation state detection unit. And an automatic digging control means for setting and outputting an automatic digging command value to each control valve based on the judgment of the load deciding unit, the boom lever is operated, and the vehicle is excavated. An automatic excavation control means judges the start of automatic excavation when the load judging section judges that the operation is in progress. 2. The work machine control device for an excavator loading machine according to claim 1, wherein the excavation state detecting means includes a vehicle speed detector for detecting a vehicle speed and an engine speed detector for detecting an engine speed. The unit is configured to determine that the vehicle is being excavated when the vehicle speed is equal to or less than a value indicated by a predetermined curve related to the engine rotation speed, and a working machine control device for the excavation loading machine. 3. The work implement control device for an excavator loading machine according to claim 1, wherein the excavation state detecting means includes an accelerator pedal operation amount detector for detecting an accelerator pedal operation amount, and an engine rotation speed for detecting an engine rotation speed. A load determining unit configured to determine that the vehicle is excavating when the accelerator pedal operation amount is equal to or more than a predetermined operation amount and the engine rotation speed is equal to or less than the predetermined rotation speed. Work machine control device.