Work vehicle control system and work vehicle control method
A work vehicle control system includes: a hydraulic device configured to adjust a supply state of hydraulic fluid supplied to a hydraulic cylinder configured to cause a work tool to operate; and a control device configured to control the hydraulic device. The control device includes: an operation data acquisition unit configured to acquire operation data indicating an operation state of an operating device operated in order to cause a work tool to perform dumping and tilting movements; and a control command unit configured to output, based on the operation data, a control command to control the hydraulic device; an operating condition determination unit configured to determine, based on the operation data, whether the operating device is operated under prescribed operating conditions; and a limit command unit configured to output a limit command to limit the control command when the operating device is determined to be operated under the operating conditions.
1. A work vehicle control system comprising:
a hydraulic device configured to adjust a supply state of hydraulic fluid supplied to a hydraulic cylinder configured to cause a work tool to operate; and
a control device configured to control the hydraulic device, wherein
the control device includes:
an operation data acquisition unit configured to acquire operation data indicating an operation state of an operating device operated in order to cause the work tool to perform a dumping movement and a tilting movement;
a control command unit configured to output a control command to control the hydraulic device on the basis of the operation data;
an operating condition determination unit configured to determine, on the basis of the operation data, whether the operating device is operated with prescribed operating conditions; and
a limit command unit configured to output a limit command to limit the control command in a case where it is determined that the operating device is operated with the operating conditions, wherein
the operation data includes; an operation amount value of the operating device to cause the work tool to perform the dumping movement or the tilting movement; an operating direction of the operating device to cause the work tool to perform the dumping movement or the tilting movement, and an operation time of the operating device required to switch the work tool from one movement out of the dumping movement and the tilting movement to the other movement, and
the operating conditions include: a first condition in which the operation amount value is an operation amount threshold value or more; a second condition in which the operation direction is switched prescribed number of times; and a third condition in which the operation time is an operation time threshold value or less.
2. The work vehicle control system according to claim 1 , wherein
the supply state of the hydraulic fluid includes a flow rate of hydraulic fluid supplied to the hydraulic cylinder, and
the limit command unit is configured to output the limit command such that the hydraulic fluid is supplied at a flow rate smaller than a flow rate of the hydraulic fluid supplied to the hydraulic cylinder on the basis of the control command.
3. The work vehicle control system according to claim 1 , wherein
the control command includes a command value calculated on the basis of the operation amount value,
the limit command includes a limit value to limit the command value,
the control device includes:
an output command determination unit configured to compare the command value with the limit value and determine one of the control command and the limit command as an output command to be output to the hydraulic device; and
an output unit configured to output, to the hydraulic device, the output command determined by the output command determination unit, and
in a case where the command value is out of the limit value range, the output command determination unit determines the limit command as the output command, and in a case where the command value is within the limit value range, the output command determination unit determines the control command as the output command.
4. The work vehicle control system according to claim 1 , wherein the limit command unit is configured to output the limit command until a control finish time point after elapse of a control release preparation time from a release preparation start time point indicating a time point at which the operating device is determined to be operated with the operating conditions last time.
5. The work vehicle control system according to claim 1 , wherein
the limit command unit is configured to gradually reduce the limit value from a control start time point indicating a time point at which the operating device is determined to be operated with the operating conditions.
6. The work vehicle control system according to claim 5 , wherein
a minimum limit value indicating a minimum value of the limit value is defined, and
the limit command unit is configured to continue outputting the minimum limit value after the limit value reaches the minimum limit value.
7. The work vehicle control system according to claim 3 , wherein
the output command determination unit determines the control command as the output command in a case where the operating device is not determined to be operated with the operating conditions.
8. A work vehicle control method comprising:
acquiring operation data indicating an operation state of an operating device operated in order to cause a work tool of a work vehicle to perform a dumping movement and a tilting movement;
outputting, on the basis of the operation data, a control command to control a hydraulic device configured to adjust a supply state of hydraulic fluid supplied to a hydraulic cylinder configured to cause the work tool to operate;
determining, on the basis of the operation data, whether the operating device is operated with prescribed operating conditions; and
outputting a limit command to limit the control command in a case where the operating device is determined to be operated with the operating conditions, wherein
the operation data includes: an operation amount value of the operating device to cause the work tool to perform the dumping movement or the tilting movement; an operating direction of the operating device to cause the work tool to perform the dumping movement or the tilting movement; and an operation time of the operating device required to switch the work tool from one movement out of the dumping movement and the tilting movement to the other movement, and
the operating conditions include: a first condition in which the operation amount value is an operation amount threshold value or more; a second condition in which the operation direction is switched prescribed number of times; and a third condition in which the operation time is an operation time threshold value or less.
9. The work vehicle control system according to claim 4 , wherein
the output command determination unit determines the control command as the output command in a case where the operating device is not determined to be operated with the operating conditions.
10. The work vehicle control system according to claim 5 , wherein
the output command determination unit determines the control command as the output command in a case where the operating device is not determined to be operated with the operating conditions.