METHOD AND SYSTEM FOR CONTROLLING WHEEL LOADER

• Main Authors: KO BYUNGJAE, HEO YEONHAENG, OH JINHYUK
• Format: Patent
• Language: Chinese; English
• Published: 04.09.2020
• Subjects: DREDGING; FIXED CONSTRUCTIONS; FOUNDATIONS; HYDRAULIC ENGINEERING; SOIL SHIFTING

The present invention provides a method for controlling a wheel loader, in which a time point when a bucket enters a load is determined as an entry time point of an automatic excavation operation mode. When entering an automatic excavation mode, the wheel loader is moved forwards such that a bucket penetrates into an aggregate to perform an excavation work. Signals able to be used to determine tire slip of the wheel loader are obtained during the excavation work. Prediction algorithms obtained through training are performed to determine whether or not the tire slip occurs. In case of the tireslip, an engine speed is decreased and the bucket is lifted to remove the tire slip. The bucket is moved along a predetermined autonomous excavation trajectory when the tire slip is removed. 本发明提供一种轮式装载机的控制方法，其中，将铲斗进入装载物时的时间点判断为自动挖掘作业模式的进入时间点。在进入所述自动挖掘作业模式时，使轮式装载机前进来执行挖掘作业。在所述挖掘作业期间，获取判断所述轮式装载机的轮胎打滑所需要的信号。对所述信号执行已学习的预测算法来判断是否发生所述轮胎打滑。当发生所述轮胎打滑时，降低发动机转速，直至所述轮胎打滑被消除至期望的值以内，并使所述铲斗上升。当所述轮胎打滑被消除时，使所述铲斗沿已设定的自动挖掘轨迹移动。