# US 9,752,304 B2 · Work vehicle and method of controlling work vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,752,304 B2 - Document ID: US9752304B2 - Status: Granted - Kind: B2 - Application number: 14/888,774 - Filed: 2014-11-25 - Published: 2016-03-24 - Granted: 2017-09-05 - Earliest claimed: 2013-12-16 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Hiroshi Monden; Tatsuro Nohara; Shogo Miyazaki; Shunsuke Miyamoto - Web page: https://patentgrep.com/patent/US9752304B2 ## CPC - E02F 9/2079: {Control of mechanical transmission (for hydrostatic transmission or hydraulic torque converter E02F9/2253)} - B60K 6/365: with the gears having orbital motion - B60K 6/387: Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means - B60K 6/445: Differential gearing distribution type - B60K 17/08: of mechanical type - B60W 10/10: including control of change-speed gearings - B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)} - B60W 30/19: Improvement of gear change, e.g. by synchronisation or smoothing gear shift - E02F 3/283: {with a single arm pivoted directly on the chassis (linkage mechanism for it E02F3/3405)} - F16H 61/16: Inhibiting {or initiating} shift during unfavourable conditions {, e.g. preventing forward-reverse shift at high vehicle speed, preventing engine overspeed} (F16H61/18 takes precedence) - B60K 25/02: directly from an engine shaft - B60K 2025/026: {by a hydraulic transmission} - B60Y 2200/415: Wheel loaders - F16H 3/728: {with means to change ratio in the mechanical gearing} - F16H 2037/104: {Power-split transmissions with at least one end of a CVT connected or connectable to two or more differentials} - F16H 2061/163: {Holding the gear for delaying gear shifts under unfavorable conditions, e.g. during cornering} - F16H 2200/2007: with two sets of orbital gears - F16H 2200/2035: with two engaging means - Y02T 10/62: Hybrid vehicles - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - F16H: GEARING - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A power transmission includes first and second clutches for switching a transmission path for a driving force therein. A clutch controlling unit provided for a work vehicle is configured to switch the transmission path from one to the other of first and second modes when a speed ratio parameter reaches a mode switching threshold. The clutch controlling unit is configured to keep setting the transmission path in the other mode even when the speed ratio parameter again reaches the mode switching threshold until a switching prohibition period having a predetermined initial value expires as long as a period of time elapsed after mode switching is included in the switching prohibition period. A trigger detecting unit provided for the work vehicle is configured to make the switching prohibition period expire when detecting a predetermined operation in the switching prohibition period. ## Claims ### Claim 1 A work vehicle, comprising: an engine; a hydraulic pump configured to be driven by the engine; a work implement configured to be driven by a hydraulic oil discharged from the hydraulic pump; a travelling apparatus configured to be driven by the engine; a power transmission configured to transmit a driving force from the engine to the travelling apparatus; a controller configured to control the power transmission; and an operating device configured to be operated by an operator, the power transmission including an input shaft, an output shaft, a gear mechanism having a planetary gear mechanism, the gear mechanism being configured to transmit a rotation of the input shaft to the output shaft, a motor connected to a rotary element of the planetary gear mechanism, a first clutch for switching a transmission path for the driving force in the power transmission into a first mode, and a second clutch for switching the transmission path for the driving force in the power transmission into a second mode, the power transmission being configured such that when the transmission path is set in the first mode, the first clutch is engaged and the second clutch is disengaged, when the transmission path is set in the second mode, the second clutch is engaged and the first clutch is disengaged, a speed ratio of the output shaft to the input shaft changes in response to a change in a rotational speed of the motor, when a speed ratio parameter corresponding to the speed ratio is a predetermined mode switching threshold, a rotational speed ratio of the motor to the input shaft in the first mode equals a rotational speed ratio of the motor to the input shaft in the second mode, and the controller including a clutch controlling unit configured to switch the transmission path from one to the other of the first and second modes when the speed ratio parameter reaches the mode switching threshold, a trigger operation detecting unit configured to detect whether or not a predetermined operation is performed by the operator, and a timer configured to measure a period of time elapsed from a first point of time at which the transmission path is switched into the other mode, the clutch controlling unit being configured to keep setting the transmission path in the other mode even when the speed ratio parameter again reaches the mode switching threshold until a switching prohibition period expires as long as the elapsed period of time is within the switching prohibition period, the switching prohibition period having a predetermined initial value, and the trigger operation detecting unit being configured to terminate the switching prohibition period when detecting the predetermined operation in the switching prohibition period. ### Claim 2 (depends on 1) The work vehicle according to claim 1, wherein one of a first range and a second range is defined as an admissible range whereas the other of the first range and the second range is defined as an inadmissible range, the first range being a range in which the speed ratio parameter is greater than or equal to the mode switching threshold, the second range being a range in which the speed ratio parameter is less than or equal to the mode switching threshold, the controller is configured to perform a control of making the speed ratio parameter equal to the mode switching threshold when the speed ratio parameter belongs to the inadmissible range at a second point of time at which the switching prohibition period expires, and the clutch controlling unit is configured to switch the transmission path into the one mode when the speed ratio parameter is made equal to the mode switching threshold. ### Claim 3 (depends on 1) The work vehicle according to claim 1, wherein the operating device includes a brake operating member, and the predetermined operation is an operation of changing an operating amount of the brake operating member by a predetermined amount of change or greater. ### Claim 4 (depends on 1) The work vehicle according to claim 1, wherein the operating device includes an accelerator operating member, and the predetermined operation is an operation of changing an operating amount of the accelerator operating member by a predetermined amount of change or greater. ### Claim 5 (depends on 1) The work vehicle according to claim 1, wherein the operating device includes a forward/rearward movement switch operating member, and the predetermined operation is an operation of moving the forward/rearward movement switch operating member to a position different from a position thereof located at the first point of time. ### Claim 6 (depends on 1) The work vehicle according to claim 1, wherein the operating device includes a gearshift operating member, and the predetermined operation is an operation of operating the gearshift operating member so as to shift into a gear stage different from a gear stage set at the first point of time. ### Claim 7 (depends on 6) The work vehicle according to claim 6, wherein the gearshift operating member is a shift range lever, and the predetermined operation is an operation of moving the shift range lever to a position different from a position thereof located at the first point of time. ### Claim 8 (depends on 6) The work vehicle according to claim 6, wherein the gearshift operating member is a kick down button, and the predetermined operation is an operation of pressing down the kick down button. ### Claim 9 A work vehicle, comprising: an engine; a hydraulic pump configured to be driven by the engine; a work implement configured to be driven by a hydraulic oil discharged from the hydraulic pump; a travelling apparatus configured to be driven by the engine; a power transmission configured to transmit a driving force from the engine to the travelling apparatus; and a controller configured to control the power transmission, the power transmission including an input shaft, an output shaft, a gear mechanism having a planetary gear mechanism, the gear mechanism being configured to transmit a rotation of the input shaft to the output shaft, a motor connected to a rotary element of the planetary gear mechanism, a first clutch for switching a transmission path for the driving force in the power transmission into a first mode, and a second clutch for switching the transmission path for the driving force in the power transmission into a second mode, the power transmission being configured such that when the transmission path is set in the first mode, the first clutch is engaged and the second clutch is disengaged, when the transmission path is set in the second mode, the second clutch is engaged and the first clutch is disengaged, a speed ratio of the output shaft to the input shaft changes in response to a change in a rotational speed of the motor, when a speed ratio parameter corresponding to the speed ratio is a predetermined mode switching threshold, a rotational speed ratio of the motor to the input shaft in the first mode equals a rotational speed ratio of the motor to the input shaft in the second mode, and the controller including a clutch controlling unit configured to switch the transmission path from one to the other of the first and second modes when the speed ratio parameter reaches the mode switching threshold, a timer configured to measure a period of time elapsed from a first point of time at which the transmission path is switched into the other mode, and a speed ratio variation detecting unit configured to detect whether or not the speed ratio parameter deviates from a third range including the mode switching threshold, the clutch controlling unit is being configured to keep setting the transmission path in the other mode even when the speed ratio parameter again reaches the mode switching threshold until a switching prohibition period expires as long as the elapsed period of time is included in the switching prohibition period, the switching prohibition period having a predetermined initial value, and the speed ratio variation detecting unit being configured to terminate the switching prohibition period when detecting deviation of the speed ratio parameter from the third range including the mode switching threshold. ### Claim 10 (depends on 9) The work vehicle according to claim 9, wherein the controller is configured to perform a control of making the speed ratio parameter equal to the mode switching threshold after the switching prohibition period is terminated due to deviation of the speed ratio parameter from the third range, and the clutch controlling unit is configured to switch the transmission path into the one mode when the speed ratio parameter is made equal to the mode switching threshold. ### Claim 11 (depends on 9) The work vehicle according to claim 9, wherein one of a first range and a second range is defined as an admissible range whereas the other of the first range and the second range is defined as an inadmissible range, the first range being a range in which the speed ratio parameter is greater than or equal to the mode switching threshold, the second range being a range in which the speed ratio parameter is less than or equal to the mode switching threshold, the speed ratio variation detecting unit is configured such that when the first range is defined as the admissible range, the speed ratio variation detecting unit sets a range of values greater than or equal to a value that is less than the mode switching threshold by a predetermined value as the third range, and when the second range is defined as the admissible range, the speed ratio variation detecting unit sets a range of values less than or equal to a value that is greater than the mode switching threshold by a predetermined value as the third range. ### Claim 12 (depends on 9) The work vehicle according to claim 9, wherein one of a first range and a second range is defined as an admissible range whereas the other of the first range and the second range is defined as an inadmissible range, the first range being a range in which the speed ratio parameter is greater than or equal to the mode switching threshold, the second range being a range in which the speed ratio parameter is less than or equal to the mode switching threshold, the controller is configured to perform a control of making the speed ratio parameter equal to the mode switching threshold when the speed ratio parameter belongs to the inadmissible range at a second point of time that the switching prohibition period is terminated, and the clutch controlling unit is configured to switch the transmission path into the one mode when the speed ratio parameter is made equal to the mode switching threshold. ### Claim 13 A method of controlling a work vehicle equipped with a power transmission, the power transmission including an input shaft, an output shaft, a gear mechanism having a planetary gear mechanism, the gear mechanism being configured to transmit a rotation of the input shaft to the output shaft, a motor connected to a rotary element of the planetary gear mechanism, a first clutch for switching a transmission path for a driving force in the power transmission into a first mode, and a second clutch for switching the transmission path for the driving force in the power transmission into a second mode, the rower transmission being configured such that when the transmission path is set in the first mode, the first clutch is engaged and the second clutch is disengaged, when the transmission path is set in the second mode, the second clutch is engaged and the first clutch is disengaged, a speed ratio of the output shaft to the input shaft changes in response to a change in a rotational speed of the motor, when a speed ratio parameter corresponding to the speed ratio is a predetermined mode switching threshold, a rotational speed ratio of the motor to the input shaft in the first mode equals a rotational speed ratio of the motor to the input shaft in the second mode, and the control method comprising: switching the transmission path from one to the other of the first and second modes when the speed ratio parameter reaches the mode switching threshold, detecting whether or not a predetermined operation is performed by an operator, measuring a period of time elapsed from a first point of time at which the transmission path is switched into the other mode, keeping the transmission path in the other mode even when the speed ratio parameter again reaches the mode switching threshold while the elapsed period of time is within the switching prohibition period, the switching prohibition period having a predetermined initial value, and terminating the switching prohibition period when the predetermined operation is detected in the switching prohibition period. ### Claim 14 A method of controlling a work vehicle equipped with a power transmission, the power transmission including an input shaft, an output shaft, a gear mechanism having a planetary gear mechanism, the gear mechanism being configured to transmit a rotation of the input shaft to the output shaft, a motor connected to a rotary element of the planetary gear mechanism, a first clutch for switching a transmission path for a driving force in the power transmission into a first mode, and a second clutch for switching the transmission path for the driving force in the power transmission into a second mode, the power transmission being configured such that when the transmission path is set in the first mode, the first clutch is engaged and the second clutch is disengaged, when the transmission path is set in the second mode, the second clutch is engaged and the first clutch is disengaged, a speed ratio of the output shaft to the input shaft changes in response to a change in a rotational speed of the motor, when a speed ratio parameter corresponding to the speed ratio is a predetermined mode switching threshold, a rotational speed ratio of the motor to the input shaft in the first mode equals a rotational speed ratio of the motor to the input shaft in the second mode, and the control method comprising: switching the transmission path from one to the other of the first and second modes when the speed ratio parameter reaches the mode switching threshold, measuring a period of time elapsed from a first point of time at which the transmission path is switched into the other mode, detecting whether or not the speed ratio parameter deviates from a predetermined third range including the mode switching threshold, keeping the transmission path in the other mode even when the speed ratio parameter again reaches the mode switching threshold while the elapsed period of time is within the switching prohibition period, the switching prohibition period having a predetermined initial value, and terminating the switching prohibition period when deviation of the speed ratio parameter from the third range including the mode switching threshold is detected.