[go: up one dir, main page]

WO2018178004A1 - Procédé pour faire fonctionner un véhicule souterrain à conduite autonome - Google Patents

Procédé pour faire fonctionner un véhicule souterrain à conduite autonome Download PDF

Info

Publication number
WO2018178004A1
WO2018178004A1 PCT/EP2018/057630 EP2018057630W WO2018178004A1 WO 2018178004 A1 WO2018178004 A1 WO 2018178004A1 EP 2018057630 W EP2018057630 W EP 2018057630W WO 2018178004 A1 WO2018178004 A1 WO 2018178004A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
diesel engine
vehicle
control arrangement
driving
Prior art date
Application number
PCT/EP2018/057630
Other languages
German (de)
English (en)
Inventor
Dirk Brandenstein
Bernd WÜLLER
Christoph Funke
Thomas Deimel
Original Assignee
Ghh Fahrzeuge Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ghh Fahrzeuge Gmbh filed Critical Ghh Fahrzeuge Gmbh
Publication of WO2018178004A1 publication Critical patent/WO2018178004A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F02D31/007—Electric control of rotation speed controlling fuel supply
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2409—Addressing techniques specially adapted therefor
    • F02D41/2422—Selective use of one or more tables

Definitions

  • the invention relates to a method for operating a self-propelled sub-vehicle with the features of the preamble of claim 1 and a self-propelled underground vehicle having the features of the preamble of claim 15.
  • self-propelled underground vehicles are known, which are used in mining and tunneling for different types of work.
  • Such self-propelled underground vehicles may, for example, be loaders, underground dump trucks, concrete mixers, mining vehicles, drilling rigs, tethering machines, tunneling machines, etc.
  • the self-propelled underground vehicles in question here have a diesel engine in particular as an aggregate.
  • This diesel engine provides the power for both the movement of the downhole vehicle and the working of the hoist of the downhole vehicle with the implement or implements, the number and type of which depends on the particular type of downhole vehicle.
  • a flow gearbox serves to translate the rotary motion emitted by the diesel engine into the movement of the downhole vehicle and the working activity of the hoist.
  • a separate control element for substantially immediate adjustment of the engine power of the diesel engine - corresponding to an accelerator pedal in a car - on the one hand and a control element for actuating the On the other hand.
  • a disadvantage of this approach of the prior art is that these frequent fluctuations in the speed of the diesel engine cause the diesel engine is regularly operated at an operating point, which has a worse than the desired efficiency. Firstly, this leads to unnecessarily high fuel consumption and to the generation of additional waste heat, the cooling of which in turn may require additional energy. Second, the variations in the speed of the diesel engine also increase the wear of the diesel engine. In the case of a diesel engine, regular fluctuations in the load of the diesel engine-that is, the torque delivered by the diesel engine-are considerably less serious for wear than these fluctuations in engine speed.
  • the object of the invention is to further develop and improve the known from the prior art self-propelled underground vehicle and the known method for operating the self-propelled underground vehicle that the operation both in terms of fuel consumption and in terms of wear becomes more economical.
  • the proposed method is for operating a self-propelled underground day vehicle, wherein the downhole vehicle comprises a hoist with at least one implement, a driving arrangement for moving the underground vehicle and a drive arrangement for driving the hoist and the drive assembly, wherein the drive arrangement comprises a flow gear and a diesel engine.
  • the self-propelled underground vehicle on a control arrangement for driving the drive assembly - in particular so for driving the flow gear and the diesel engine - on.
  • the proposed method is characterized in that the sub-vehicle has an input arrangement for predetermining by a vehicle user both a travel speed of the underground vehicle and a working activity of the hoist to be executed.
  • This driving speed is the speed with which the underground vehicle is to move or move.
  • This input device can have arbitrary and possibly completely separate input devices for presetting the vehicle speed on the one hand and for specifying the work activity of the hoist to be executed on the other hand.
  • the work to be performed may in particular be a working movement of an implement of the hoist.
  • the proposed method is further characterized in that the control arrangement regulates the diesel engine based on a respective predetermined by the vehicle user through the input device driving speed and work activity.
  • the vehicle user is deprived of the possibility of directly setting the speed of the diesel engine and thereby opening up the possibility of having the diesel engine even with different combinations of ner predetermined driving speed and a given work activity with lower fluctuations in the speed to operate.
  • this control of the diesel engine can be configured as desired.
  • a preferred embodiment is characterized in that the control arrangement determines a target speed of the diesel engine and controls the diesel engine to this target speed.
  • the control arrangement regulates the diesel engine by the variable supply of fuel and in particular regulates the diesel engine to the setpoint speed. Accordingly, then forms the amount of fuel supplied to the manipulated variable for the control.
  • the control arrangement sets a ratio of the flow gear so that at the target speed, the driving assembly moves the underground vehicle at the predetermined driving speed. It may be that, until reaching the predetermined driving speed, the ratio of the flow gear is adjusted so that the driving assembly temporarily moves the underground vehicle with a correspondingly lower or greater driving speed than the predetermined driving speed. There may in principle be circumstances under which a certain predetermined driving speed can not be achieved, such as in the presence of too high a gradient on the route.
  • the self-propelled underground vehicle may be any self-propelled underground vehicle. So it can either be a rail-guided or a rail-independent underground vehicle. As already stated, it can be, in particular, a loader loader, an underground dump truck, a concrete mixer, a conspirator vehicle, a drilling rig, a tethering device or a tunneling machine.
  • a further preferred embodiment is characterized in that the work activity predetermined by the vehicle user through the input arrangement comprises a predetermined lifting speed of the work activity.
  • the work activity predetermined by the vehicle user through the input arrangement comprises a predetermined lifting speed of the work activity.
  • the work activity per se - such as a specific movement or operation of the implement - is given, but also the speed at which this work is to be performed. Regularly, the inherent work activity will require more power when running at higher speed.
  • the Lifting speed defines an execution time for completion of the specified work activity. In that regard, conversely, the execution time defines the stroke speed.
  • the control arrangement determines a required operating power based on the predetermined driving speed and based on the predetermined operating activity that the control arrangement determines an operating point of the diesel engine based on the determined operating power, which operating point by a rotational speed and a load characteristic of the diesel engine is defined and at which operating point of the diesel engine provides at least the required operating power and that the control arrangement adjusts the diesel engine to the specific operating point.
  • the required operating power is thus at least as high as the combined power required for moving the underground vehicle at the predetermined driving speed, in particular for accelerating the underground vehicle to the predetermined driving speed, and which is required for the work to be carried out.
  • the load characteristic of the diesel engine is a characteristic known per se, which at a respective setting of the supply of fuel to the diesel engine, which is associated with the characteristic curve, above the rotational speed of the diesel engine removes the torque delivered by the diesel engine.
  • the output at the respective operating point of the diesel engine is proportional to the product of speed and torque.
  • the particular required operating power is also based on the predetermined lifting speed. The relationship between the lifting speed and power has already been mentioned above.
  • a preferred embodiment is characterized in that the downhole vehicle has a hydraulic Lenkvor- direction driven by the drive arrangement for directing the Untertagefahrzeus and driven by the drive assembly cooling device for cooling the flow gear.
  • Hydraulic transmissions generate comparatively much heat loss through friction, whereby active cooling is expedient.
  • the cooling device can also be used for cooling other apparatus and devices.
  • the flow gearing is adapted to variably transfer the power provided by the diesel engine to the drive assembly, the hoist and possibly to the steering device and the cooling device. This allows the fluid transmission to preferentially transmit the power provided by the diesel engine to the steering device so that the steering device can always be sufficiently powered by the fluid transmission regardless of the given driving speed and work activity.
  • the hoist has only one implement.
  • the hoist comprises a plurality of implements, for which the input arrangement by the vehicle user specifies a respective work to be performed. It is therefore possible to specify different work activities for each different work equipment.
  • the control arrangement may preferably determine the required operating performance also based on the respective given work activities of the plurality of work tools.
  • control arrangement also determines the required operating power based on a respective power for operating the steering device and for operating the cooling device. These require for their operation also a - not negligible - performance and can therefore be considered advantageous in the required operating performance.
  • a further preferred embodiment is characterized in that in a data memory of the underground vehicle, a set of load characteristics, which are preferably each characterized by a load characteristic associated adjustment of the supply of fuel to the diesel engine, are deposited for the diesel engine and that the operating points along the deposited Load curves each fuel consumption is assigned.
  • the fuel consumption can be specified in particular per unit of time.
  • the control arrangement may select the load characteristic in which the operating point has the highest efficiency at the particular operating power. Since there are regularly several possible operating points on different load characteristics to provide a required operating performance, in this way simply the most economical operating point can be selected.
  • the flow gearbox is a hydrostatic gearbox, which hydrostatic gearbox variably, preferably steplessly, converts a power output by the diesel engine into a volumetric flow of a hydraulic fluid of the hydrostatic gearbox. In particular, therefore, the size of the volume flow is variable.
  • a preferred embodiment is characterized in that the control arrangement determines a required minimum speed of the diesel engine based on the predetermined work activity. For certain work activities of certain tools of the hoist, it may be that a certain volume flow for performing this work is required, for which volume flow in turn a certain speed of the diesel engine - just the above minimum speed - is required. This is due to the fact that the volume flow can not be achieved by the conditions of the flow gear, when the output power from the diesel engine is indeed high enough, but the speed is too low, although then the torque is correspondingly higher. Consequently, the requirement of this minimum speed may then be in addition to and in addition to the requirement of sufficient operating performance described above.
  • the crizan- order determines the required minimum speed also based on the given stroke speed. The required volume flow can also depend on how quickly the work is to be carried out. Likewise, it is preferred that the control arrangement determines the target speed so that it corresponds at least to the minimum speed. It may be that the control arrangement based on the predetermined lifting speed a minimum
  • volume flow of the flow rate of the flow gearbox determines and the Minimum speed determined based on the minimum volume flow.
  • the minimum speed is the lowest speed at which the flow gearbox driven by the diesel engine can provide the minimum volume flow.
  • a further preferred embodiment is characterized in that the control arrangement sets to a standstill signal, the target speed to a predetermined idle speed.
  • the standstill signal may be an arbitrary signal in principle, which indicates such an idle situation.
  • the control arrangement sets the setpoint speed to a predetermined idling speed in the event of the absence of specification of a positive driving speed and the absence of specification of a working activity. It may be, for example, that the standstill signal is triggered upon actuation of a parking brake of the underground vehicle and / or opening a driver's cab door of the underground vehicle. For both the actuation of the parking brake and the opening of the driver's cab door are at least strong indications that no operation by the vehicle user will occur.
  • Such as particularly efficiently identified speed of the diesel engine can also be referred to as a preferred speed. Accordingly, it is provided according to a preferred embodiment that the control arrangement tion sets the target speed to a predetermined preferred speed, in particular when the preferred speed corresponds to at least the minimum speed. It is then necessary that the required volume flow at the preferred speed can be provided for the given work activity. Preferably, the control arrangement sets the target speed to the predetermined preferred speed, if further a positive driving speed or a working activity is predetermined. Because if neither a (non-zero) driving speed nor the execution of a work activity has been specified, the power delivered at the preferred speed will be regularly too high and rather offer an operation of the diesel engine at idle.
  • the control arrangement sets the target speed to the specific preferred speed, if further provides an operating point of the diesel engine at the preferred speed, the required operating power. It may be that the required operating power can not be provided at the preferred speed, but only at a higher speed.
  • the control arrangement adjusts the diesel engine to the operating point with the preferred speed and the load characteristic curve, which provides the required operating power and has the lowest fuel consumption, in particular per unit time. Regularly, but not always, this will be the load curve with the lowest setting of the supply of fuel to the diesel engine - among the load characteristics under consideration.
  • a preferred embodiment is characterized in that the preferred speed is above a torque maximum speed of a full load characteristic of the diesel engine.
  • the maximum torque rotational speed is that rotational speed at which the maximum torque is output by the diesel engine on the full load characteristic curve-that is to say with essentially unrestricted supply of fuel.
  • the preferred speed is above a torque maximum speed substantially all of the characteristics of the diesel engine.
  • the preferred speed is above the torque maximum speed, it is given a lower torque, which is preferred then applies to all load characteristics. This has the effect that when operating at the preferred speed to a - moderate - increase in the required torque, the speed is automatically reduced and the diesel engine outputs a higher torque. The diesel engine is not stifled automatically in such a situation.
  • a further preferred embodiment is characterized in that the preferred speed is less than 110% of the maximum torque speed of the full load characteristic. In other words, the preferred speed is less than 10% above the maximum torque speed. In this way, both a comparatively high torque and a comparatively high efficiency at the preferred speed is guaranteed. Accordingly, it is preferably provided that the torque at the preferred speed on the full load characteristic curve is at least 90%, in particular at least 95%, of the torque at the maximum torque rpm on the full load characteristic curve.
  • the drive arrangement can move the downhole vehicle at a maximum speed that is variable up to a maximum speed, and that the ratio range of the fluid transmission allows the downhole vehicle to travel at any speed up to the maximum speed, essentially at the preferred speed of the diesel engine to move. It is further preferred that the transmission range of the fluid transmission, in particular also the torque at the preferred speed on the full load characteristic curve, makes it possible to accelerate the underground vehicle from standstill up to the maximum speed. In this way, it is ensured that all speed requirements for the underground vehicle and all speed changes can be satisfied without the diesel engine having to be operated with a substantial deviation from the preferred speed.
  • a preferred embodiment is further characterized in that the driving arrangement comprises a hydraulic motor which can be acted upon by the hydraulic fluid for moving the underground vehicle.
  • the proposed self-propelled underground vehicle has a hoist with at least one implement, a drive assembly for moving the underground vehicle, a drive assembly for driving the hoist and the drive assembly, which drive assembly comprises a flow gear and a diesel engine and a control arrangement for driving the drive assembly.
  • the proposed self-propelled underground vehicle is characterized in that it has an input arrangement for predetermining by a vehicle user both a travel speed of the underground vehicle and a working activity of the hoist to be executed.
  • the proposed self-propelled underground vehicle is further characterized in that the control arrangement is adapted to regulate the diesel engine based on a respective predetermined by the vehicle user through the input device driving speed and work activity.
  • Preferred embodiments of the proposed self-propelled underground vehicle correspond to the preferred embodiments of the proposed method for operating a self-propelled underground vehicle and vice versa.
  • FIG. 1 is a schematic view of a proposed self-propelled underground vehicle
  • FIG. 2 shows a schematic illustration of load characteristics of the diesel engine of the self-propelled underground vehicle of FIG. 1.
  • the underground vehicle 1 is specifically a loader la with a hoist 2, which hoist 2 in the present case has a blade 3a as a working device 3.
  • the underground vehicle 1 has a driving arrangement 4 with which the underground vehicle 1 can be moved at a speed that is at most Vmax.
  • the drive assembly 4 is a hydraulic fluid which can be acted upon by hydraulic fluid.
  • the flow gear 6 is presently a continuously variable hydrostatic transmission.
  • the control arrangement 8 determines a setpoint speed 11 of the diesel engine 7, which setpoint speed 11 is here specifically 1550 rpm and in the Fig. 2 is marked.
  • an execution time is specified by the vehicle user 10, within which the execution of the work is to be completed.
  • each such setting corresponds to one of the load characteristics 13a, b, c shown in FIG. 2, wherein the respective load characteristics the torque 21st represent over the speed 14.
  • These load characteristics 13a, b, c are also stored in a data memory 18 of the underground vehicle 1 together with an efficiency curve over the rotational speed 14 for each load characteristic 13a, b, c, so that for each operating point 12, the efficiency at this operating point 12 can be determined.
  • the uppermost load characteristic 13a forms the full-load characteristic curve 15 with unthrottled supply of fuel, with the two other load characteristics 13b, c correspondingly lower supply of fuel.
  • the power curve 15a is also above the rotational speed 14 in FIG. 2 shown.
  • such a throttled supply of fuel takes place, which is why the operating point 12 corresponds to the point on the load curve 13b at the setpoint speed 11.
  • the regulation of the diesel engine 7 by the control arrangement 8 takes place in detail as follows:
  • a standstill signal is present and whether a non-zero driving speed or a work activity has ever been specified.
  • a standstill signal can be triggered for example by actuation of a - not shown here - parking brake of the underground vehicle 1.
  • the underground vehicle 1 is in a state of rest.
  • the target speed 11 is set to an idle speed 19 - and according to the diesel engine 7 regulated to this - which is present example at 700 U / min , So there is only little power delivered, whereby the fuel consumption is low and the generation of waste heat is minimized.
  • a required operating power is determined, which for the execution of the work activity in the specified execution time or lifting speed, for the movement of the underground vehicle 1 and for the operation of the steering device 16 and the cooling device 17 is required as a whole.
  • the current driving speed of the underground vehicle 1 can also be taken into account, since an acceleration requirement and thus a power requirement can result from a comparison with the predefined driving speed.
  • the required for the execution of the work in the specified execution time minimum volume flow of the flow gear 6 is determined and determines a minimum speed of the diesel engine 7.
  • This torque maximum speed 22 is here 1450 rpm and leads to a torque 21 of 1400 Nm on the full load characteristic 15. At the preferred speed 20 of 1550 rpm on the full load characteristic curve 15, however, the torque 21 is 1370 Nm.
  • the above-specified required operating power - which is 150 kW here by way of example - can be provided at the preferred speed 20. This is the case when the power output at the preferred speed 20 on the full load characteristic 15, which power is shown as the power curve 15a in FIG. 2 here 220 kW, at least this required operating performance corresponds, so what is the case here.
  • the required operating power can be provided even at the preferred speed 20 with limited supply of fuel and thus with lower load than the full load characteristic 15.
  • this preferred speed 20 is at least as high as the above-determined minimum speed, which in the present embodiment is also to be answered in the affirmative. Then, the target speed 11 is set to this preferred speed 20.
  • the diesel engine 7 is then operated at the load characteristic 13b below the full load characteristic 15, since - as already stated - the output power at the target speed 11 on the full load curve 15 would far exceed the required operating line.
  • the diesel engine 7 could be operated to deliver the required operating power.
  • the operation comparatively close to the torque maximum and thus with relatively low speed 14 leads to lower energy consumption than the operation with a lower torque 21 and higher speed 14.
  • the control arrangement 8 reacts to fluctuations in the required operating power preferably by adjusting the load characteristic 13a, b , c, the diesel engine 7 in contrast to the change in the rotational speed 14.
  • the flow gear 6 is due to its wide range of translation in Zu- In cooperation with the driving arrangement 4, it is possible to move the underground vehicle 1 essentially at this preferred speed 20 in the entire area up to the maximum speed and to accelerate it to an arbitrary speed in this area.
  • the setpoint speed 11 would be set to this minimum speed and, mutatis mutandis, the appropriate load characteristic 13a, b, c will be determined to deliver the required operating power.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner un véhicule souterrain (1) à conduite autonome, ledit véhicule souterrain (1) comportant un mécanisme de levage (2) comprenant au moins un appareil de travail (3), un arrangement de déplacement (4) servant au déplacement du véhicule souterrain (1), un arrangement d'entraînement (5) destiné à manœuvrer le mécanisme de levage (2) et l'arrangement de déplacement (4), arrangement d'entraînement (5) qui possède une transmission hydraulique (6) et un moteur diesel (7), et un arrangement de régulation (8) destiné à commander l'arrangement d'entraînement (5). Le procédé est caractérisé en ce que le véhicule souterrain (1) comporte un arrangement de saisie (9) destiné à indiquer, par un utilisateur du véhicule (10), à la fois une vitesse de déplacement du véhicule souterrain (1) et une activité de travail à accomplir par le mécanisme de levage (2), et en ce que l'arrangement de régulation (8) régule le moteur diesel (7) en se basant sur une vitesse de déplacement et une activité de travail respectivement indiquées par l'utilisateur du véhicule (10) par le biais de l'arrangement de saisie (9). L'invention concerne également un véhicule souterrain (1) à conduite autonome correspondant.
PCT/EP2018/057630 2017-03-28 2018-03-26 Procédé pour faire fonctionner un véhicule souterrain à conduite autonome WO2018178004A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017106629.2A DE102017106629A1 (de) 2017-03-28 2017-03-28 Verfahren zum Betrieb eines selbstfahrenden Untertagefahrzeugs
DE102017106629.2 2017-03-28

Publications (1)

Publication Number Publication Date
WO2018178004A1 true WO2018178004A1 (fr) 2018-10-04

Family

ID=61972492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/057630 WO2018178004A1 (fr) 2017-03-28 2018-03-26 Procédé pour faire fonctionner un véhicule souterrain à conduite autonome

Country Status (2)

Country Link
DE (1) DE102017106629A1 (fr)
WO (1) WO2018178004A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2905324B2 (ja) * 1991-11-20 1999-06-14 日立建機株式会社 油圧建設機械の原動機回転数制御装置
US20070101708A1 (en) * 2003-12-09 2007-05-10 Komatsu Ltd. Device and method of controlling hydraulic drive of construction machinery
EP2136055A1 (fr) * 2007-03-12 2009-12-23 TCM Corporation Dispositif de commande pour véhicule de chantier
DE102008036378A1 (de) * 2008-08-05 2010-02-11 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Erntemaschine
EP2261488A1 (fr) * 2008-03-21 2010-12-15 Komatsu, Ltd. Machine entraînée par moteur, dispositif de commande pour machine entraînée par moteur, et procédé de commande de caractéristiques de puissance maximum de moteur
US20120199371A1 (en) * 2009-10-14 2012-08-09 Komatsu Ltd. Engine speed control device and motor grader including the same
US8374755B2 (en) * 2007-07-31 2013-02-12 Caterpillar Inc. Machine with task-dependent control
EP2700799A1 (fr) * 2012-06-22 2014-02-26 Komatsu, Ltd. Chargeuse à roues et procédé de commande d'une chargeuse à roues
WO2015011784A1 (fr) * 2013-07-23 2015-01-29 株式会社小松製作所 Dispositif de commande de moteur à combustion interne, engin de chantier et procédé de commande de moteur à combustion interne
EP2832205A1 (fr) * 2013-07-31 2015-02-04 CLAAS Selbstfahrende Erntemaschinen GmbH Moissonneuse automotrice

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3221762A1 (de) 1981-06-11 1982-12-30 Klöckner-Becorit GmbH, 4620 Castrop-Rauxel Steuervorrichtung fuer einen dieselhydraulischen antrieb
DE102005038905A1 (de) * 2005-08-17 2007-02-22 Brueninghaus Hydromatik Gmbh Verfahren zum Regeln eines Antriebssystems und elektronische Steuereinheit
IT1395088B1 (it) * 2009-03-12 2012-09-05 Rolic Invest Sarl Veicolo battipista e metodo di controllo dello stesso
DE102010034613A1 (de) * 2010-08-18 2012-02-23 Robert Bosch Gmbh Landwirtschaftliche Arbeitsmaschine
DE102013214732A1 (de) * 2013-07-29 2015-02-26 Robert Bosch Gmbh Steuerungsstruktur für eine mobile Arbeitsmaschine, mobile Arbeitsmaschine und Verfahren mit einer Steuerungsstruktur

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2905324B2 (ja) * 1991-11-20 1999-06-14 日立建機株式会社 油圧建設機械の原動機回転数制御装置
US20070101708A1 (en) * 2003-12-09 2007-05-10 Komatsu Ltd. Device and method of controlling hydraulic drive of construction machinery
EP2136055A1 (fr) * 2007-03-12 2009-12-23 TCM Corporation Dispositif de commande pour véhicule de chantier
US8374755B2 (en) * 2007-07-31 2013-02-12 Caterpillar Inc. Machine with task-dependent control
EP2261488A1 (fr) * 2008-03-21 2010-12-15 Komatsu, Ltd. Machine entraînée par moteur, dispositif de commande pour machine entraînée par moteur, et procédé de commande de caractéristiques de puissance maximum de moteur
DE102008036378A1 (de) * 2008-08-05 2010-02-11 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Erntemaschine
US20120199371A1 (en) * 2009-10-14 2012-08-09 Komatsu Ltd. Engine speed control device and motor grader including the same
EP2700799A1 (fr) * 2012-06-22 2014-02-26 Komatsu, Ltd. Chargeuse à roues et procédé de commande d'une chargeuse à roues
WO2015011784A1 (fr) * 2013-07-23 2015-01-29 株式会社小松製作所 Dispositif de commande de moteur à combustion interne, engin de chantier et procédé de commande de moteur à combustion interne
EP2832205A1 (fr) * 2013-07-31 2015-02-04 CLAAS Selbstfahrende Erntemaschinen GmbH Moissonneuse automotrice

Also Published As

Publication number Publication date
DE102017106629A1 (de) 2018-10-04

Similar Documents

Publication Publication Date Title
DE112006003222B4 (de) Motorsteuervorrichtung eines Arbeitsfahrzeugs
DE112005001920B4 (de) Laststeuervorrichtung für den Motor eines Arbeitsfahrzeugs
DE112008000646T5 (de) Fräsmaschine mit Schneidtrommel-Geschwindigkeitssteuerung
EP0339202B1 (fr) Dispositif de transmission pour machines et véhicules
DE10057085B4 (de) Arbeitsfahrzeug
EP2050961B1 (fr) Système d'entraînement hydraulique
EP2584095B1 (fr) Engin automobile et procédé de contrôle d'un tel engin
DE112011102099T5 (de) Steuersystem mit lastangepasstem Einsparungsmodus
DE112007002112T5 (de) Baufahrzeug
DE112016000049B4 (de) Arbeitsfahrzeug und Verfahren zum Steuern von Ausgangsleistung eines Motors
EP2333157A1 (fr) Procédé de réglage de la puissance d'une finisseuse ou d'un chargeur et finisseuse ou chargeur
DE102006000784A1 (de) Arbeitsmaschinen-Hydrauliksteuersystem
DE112011104410T5 (de) Steuerungsvorrichtung und -verfahren für ein hydrostatisch betriebenes Fahrzeug
WO2013143652A1 (fr) Mécanisme d'entraînement dans un engin automoteur de chantier et procédé de réglage d'un rapport de vitesse de rotation dans un tel mécanisme d'entraînement
EP2238350A1 (fr) Procédé de commande d'un système de transmission hydrostatique
DE102016216587A1 (de) System und verfahren zum reagieren auf radschlupf in einem zugfahrzeug
DE102017123023B4 (de) Steuerungsstrategie für ein antriebsstrangsystem
EP1608526B1 (fr) Ensemble moteur pour l'entrainement d'un vehicule automobile
DE102017204336A1 (de) Bodenbearbeitungsmaschine mit Schaltgetriebe zwischen Antriebsmotor und rotierbarer Arbeitsvorrichtung
DE102005055317A1 (de) Richtungsumschaltung in einer Arbeitsmaschine mit hydrostatischem Antrieb
DE102004046177A1 (de) Fahrzeugsteuerungssystem
DE112012004582B4 (de) Hystat-Antriebssystem mit Brennkraftmaschinendrehzahlsteuerung
EP1236933B1 (fr) Système d'entraînement pour véhicule de travail
DE112009004293T5 (de) Adaptive Unterdrehzahlsteuerung
DE68929357T2 (de) Mechanisch-hydraulisches Getriebesystem und Steuerverfahren für Leistungsgetriebe mit einem solchen System

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18717849

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18717849

Country of ref document: EP

Kind code of ref document: A1