| CPC E02F 3/434 (2013.01) [E02F 9/2075 (2013.01); E02F 9/2079 (2013.01); E02F 9/2235 (2013.01)] | 4 Claims |
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1. A wheel loader comprising:
a traveling device that causes a vehicle body to travel;
a travel prime mover that supplies a travel driving force to the traveling device;
a working device disposed on the vehicle body, the working device including an arm turnably in a vertical direction and a bucket coupled to a distal end portion of the arm and mounted turnably in the vertical direction;
an arm operating level for operating the arm;
an accelerator pedal for accelerating the vehicle body;
a work prime mover that supplies a work driving force to the working device;
a traveling state detecting device that detects a traveling state of the vehicle body including a vehicle speed and a traveling distance;
a working state detecting device that detects a working state of the working device including an angle of the arm; and
a control device that controls the travel prime mover and the work prime mover,
wherein
the control device:
determines whether a specific condition that identifies lifting of the arm during forward traveling of the vehicle body during a loading work is satisfied or not, based on the traveling state of the vehicle body detected by the traveling state detecting device and the working state of the working device detected by the working state detecting device;
sets a travel correction rate for adjusting the travel driving force and a work correction rate for adjusting the work driving force, based on the vehicle speed and the traveling distance detected by the traveling state detecting device, the angle of the arm detected by the working state detecting device, and a target traveling distance set in advance, and a target arm angle set in advance, when the specific condition is determined to be satisfied;
controls the travel driving force of the travel prime mover and the work driving force of the work prime mover based on the set travel correction rate and work correction rate so that a time at which the angle of the arm reaches the target arm angle converges with a time at which the vehicle body reaches the target traveling distance;
calculates a remaining time until the target traveling distance is reached as a travel remaining time based on the vehicle speed and the traveling distance, and the target traveling distance;
calculates a remaining time until the target arm angle is reached as a work remaining time based on the angle of the arm and the target arm angle;
sets the travel correction rate and the work correction rate based on the calculated travel remaining time and work remaining time; and
controls a torque of the travel prime mover and a torque of the work prime mover based on the set travel correction rate and work correction rate,
the specific condition is a condition under which it is determined that rise/run of the wheel loader is started based on an angle of the bucket being equal to or more than a predetermined angle threshold value and operation amounts of the accelerator pedal and the arm operating lever are increased,
the travel remaining time is calculated by a formula:
 wherein tc, dRR, d1, and v1 respectively represent the travel remaining time, a target rise/run distance, the traveling distance at a time t1 after a lapse of a predetermined time from a rise/run starting time to, and the vehicle speed of the wheel loader at the time t1, and
the work remaining time is calculated by a formula:
 wherein t1, θRR, θ1, and Vθ1 respectively represent the work remaining time, the target arm angle, the angle of the arm at the time t1 after the lapse of the predetermined time from the rise/run starting time to, and an arm angular speed of the wheel loader at the time t1.
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