JP6887401B2 - Work machine - Google Patents

Description

The present invention relates to a work machine including a control device for calculating a load value of a transported object carried by the work device.

When loading a transport machine such as a dump truck using a loading machine such as a hydraulic excavator, excess or deficiency with respect to the limited load capacity (maximum load capacity) of the transport machine from the viewpoint of production efficiency. It is desirable to carry out loading (that is, prevention of overload and underload) without loading. As a means for achieving just enough loading with respect to the limited load capacity of the transport machine, the load of the object to be transported inside the bucket in the front work device of the hydraulic excavator as disclosed in Patent Document 1 and the like. A method is known in which a value (sometimes referred to as a "carrying load" in this paper) is calculated and the load value is displayed to an operator of a hydraulic excavator via a display device.

Correction values may be used in the calculation of the transport load of a hydraulic excavator from the viewpoint of improving its accuracy. In Patent Document 1, in a load measuring device for a hydraulic excavator that uses the load of an empty load (carrying load) as a correction value for load calculation, it is determined whether or not the load in the empty state is stable with the passage of time. It is disclosed that a correction value for load calculation is calculated and set based on a load measured when the load in an empty state is stable.

JP-A-2002-332663

By the way, in general, the calculation result of the transport load of the hydraulic excavator is that even if the weight of the object to be transported is the same, the weight of the bucket is reduced due to wear or breakage of the bucket structure, and the weight of the bucket is reduced by the additional installation of the reinforcing plate. It can be changed by various working environment factors such as an increase and a substantial increase in the weight of the bucket due to sticking of the object to be transported to the bucket. The transport load of the hydraulic excavator is the torque generated by the weight of the object to be transported and the weight of the front work device at the base rotation part of the front work device and the torque generated by the thrust of the hydraulic cylinder that drives the root rotation part of the front work device. Measure from the balance with. Therefore, the calculation result of the carrying load changes depending on the operator operating factors that affect the torque fluctuation such as the operating speed and the posture of the front working device. These factors are obstacles to loading in just proportion to the limited load capacity of the transport machine.

Patent Document 1 reduces the load measurement error due to the work environment factor and the operator operation factor by using the correction value of the load calculation calculated based on the load measured when the load in the empty state is stable. We are trying to realize just enough loading for the limited load capacity of the transport machine. However, in the configuration shown in Patent Document 1, when the operation of the front working device at the time of measuring the transport load deviates from the operation when the correction value is set, the correction value becomes inaccurate according to the degree of the deviation, and the transportation It can be difficult to optimize the load capacity of the machine. That is, depending on the operation of the front working device at the time of measuring the carrying load, the calculated value of the carrying load may deviate from the actual value and become inaccurate.

An object of the present invention is to provide a work machine capable of notifying an operator of the degree of deviation between the operation of the work device when a correction value is set and the operation of the work device when calculating a transport load.

The present application includes a plurality of means for solving the above problems, and one example thereof is a work device, an actuator for driving the work device, and a load value of a transportation object carried by the work device. The transport load calculation unit that calculates the transport load based on the attitude information of the work device and the load information of the actuator during the operation of the actuator, and the transport load calculation unit that calculates the corrected transport load by correcting the transport load with a correction value. In a work machine including a control device having a transport load compensating unit and a display device for displaying the corrected transport load calculated by the transport load compensation unit, the control device is such that the transport load calculation unit calculates the transport load. The correction value is calculated based on the motion classification unit that classifies the operation of the work device at the time of calculation based on the operation speed information and the attitude information of the work device, and the transport load calculated by the transport load calculation unit. The operation classification of the work device by the operation classification unit when the correction value calculation unit and the transportation load used by the correction value calculation unit for the calculation of the correction value among the transportation loads are calculated is the correction value. The operation of the work apparatus by the correction information storage unit that is stored in association with the operation classification unit and the operation classification unit when the transportation load used by the transportation load correction unit for the calculation of the correction transportation load is calculated. A correction effectiveness determination unit for determining the effectiveness of the correction of the carrying load by the correction value based on the degree of agreement between the classification and the operation classification of the work device stored in the correction information storage unit is provided. The display device displays the determination result of the correction effectiveness determination unit.

According to the present invention, when the operation of the front working device at the time of measuring the carrying load deviates from the operation when the correction value is set, the degree of the deviation is notified to the operator as the effectiveness of the correction. As a result, the operator can grasp whether or not the operation is close to the front operation when the correction value is set, so that it becomes easy to optimize the load capacity of the transport machine and the production efficiency is improved. Improvement can be expected.

The figure which shows the loading work to the transport machine by a loading machine. The figure which shows the appearance of the loading machine of Embodiment 1. FIG. The schematic diagram of the control system of the loading machine of Embodiment 1. FIG. The figure which shows the internal structure of the controller of Embodiment 1. FIG. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 1. FIG. The figure which shows the control flow of the carrying load calculation of Embodiment 1. FIG. The figure which shows the calculation algorithm of the carrying load calculation of Embodiment 1. FIG. The figure which shows the control flow of the operation classification processing of the work apparatus of Embodiment 1. FIG. The figure which shows the algorithm of the operation classification processing of the work apparatus of Embodiment 1. FIG. The figure which shows the control flow of the correction value calculation of Embodiment 1. FIG. The figure which shows the control flow of the correction effectiveness determination of Embodiment 1. FIG. The figure which shows the algorithm of the correction effectiveness determination of Embodiment 1. FIG. The figure which shows the algorithm of the correction effectiveness determination of Embodiment 1. FIG. The figure which shows the appearance of the display monitor of Embodiment 1. FIG. The figure which shows the internal structure of the weight measurement controller of Embodiment 2. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 2. The figure which shows the control flow of the carrying load calculation of Embodiment 2. The figure which shows the appearance of the display monitor of Embodiment 2. The figure which shows the control flow of the correction information selection of Embodiment 2. The figure which shows the correction information selection algorithm of Embodiment 2. The figure which shows the internal structure of the weight measurement controller of Embodiment 3. The figure which shows the whole processing flow of the weight measurement controller of Embodiment 3. The schematic diagram which showed the time series data of the motion classification stored in the corrected transport load and motion classification storage part of Embodiment 3. FIG. The figure which shows the control flow of the update recommendation determination of Embodiment 3. The figure which shows the algorithm of the update recommendation determination of Embodiment 3. The figure which shows the appearance of the display monitor of Embodiment 3. The figure which shows the control flow of the correction value calculation of Embodiment 3.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The case where a hydraulic excavator is used as a work machine (loading machine) will be described below. The work machine targeted by the present invention is not limited to a hydraulic excavator having a bucket as an attachment of a front work device, but also includes a hydraulic excavator having a grapple, a lifting magnet, or the like that can hold and release an object to be transported. It can also be applied to a wheel loader or the like equipped with a work device (working arm) that does not have a turning function such as a hydraulic excavator.

− Embodiment 1-
<Excavation and loading work>
In FIG. 1, the loading machine 1 (hydraulic excavator) according to the present embodiment performs loading work (excavation loading work) accompanied by excavation work on the transport machine 2 (dump truck) as an example of the work. It shows the situation. After the empty transport machine 2 is stopped within the loadable range of the loading machine 1, the excavation work and the loading work by the loading machine 1 are repeatedly performed. After the loading of a predetermined amount is completed, the transport machine 2 starts, and the next empty transport machine 2 arrives. The excavation and loading work is carried out in this series of flows.

<Loading machine>
FIG. 2 is a diagram showing the appearance of the loading machine 1 in the present embodiment. The loading machine 1 has a lower vehicle body 101 composed of left and right tracks driven by a hydraulic motor (not shown), and an upper swivel body 102 rotatably mounted on the lower vehicle body 101. The driver's cab 103 is attached to the front part of the upper swivel body 102. Further, an articulated work device (front work device) 100 composed of a plurality of front members is attached to the front portion of the upper swing body 102 so as to be swingable up and down.

<Loading machine: Front configuration>
The work device 100 includes a boom 110 that is vertically swingably attached to the upper swivel body 102, an arm 111 that is vertically swingably attached to the tip of the boom 110, and a vertical rotation to the tip of the arm 111. A bucket 112 that is movably attached, a boom cylinder 113 that is connected to an upper swing body 102 and a boom 110 to swing the boom 110 in the vertical direction, and a boom cylinder 113 that is connected to the boom 110 and the arm 111 to move the arm 111 up and down. It has an arm cylinder 114 that swings in the direction, and a bucket cylinder 115 that is connected to the arm 111 and the bucket 112 and rotates the bucket 112 in the vertical direction.

As a sensor for detecting the posture of the work device 100, a boom inclination sensor 120 for detecting the inclination angle of the boom 110 with respect to a predetermined surface (for example, a horizontal plane) is attached to the boom 110, and the boom is attached to the boom 110 with respect to a predetermined surface (for example, a horizontal plane). An arm tilt sensor 121 that detects the tilt angle of the arm 111 is attached to the arm 111, and a bucket tilt sensor 122 that detects the tilt angle of the bucket 112 with respect to a predetermined surface (for example, a horizontal plane) is attached to the bucket 112. As the tilt sensors 120, 121, 122, for example, an inertial measurement unit (IMU) can be used. If it is a sensor that can detect a physical quantity that can calculate the attitude information of the work device 100, it detects a potentiometer that detects the rotation angle of each front member 110, 111, 112 and the amount of expansion and contraction of each cylinder 113, 114, 115. Other sensors such as stroke sensors are also available.

<Loading machine: Overall configuration of control system>
The control system included in the loading machine 1 of FIG. 2 is shown in FIG. The boom cylinder 113, the arm cylinder 114, the bucket cylinder 115, and the swivel motor 116 are driven by the hydraulic oil discharged from the hydraulic oil tank 105 by the main pump 104 by the engine (not shown). The flow rate and flow direction of the hydraulic oil supplied to each hydraulic actuator 113-116 are determined by the control valve 130i-130iv operated by the drive signal output from the controller 155 according to the operation direction and the operation amount of the operation lever 140-143. Be controlled.

The controller (control device) 155 includes a storage device (for example, ROM, RAM), an arithmetic processing unit (for example, a CPU), and an input / output device, and operates the loading machine 1 and a display monitor (display) connected to the controller 155. Device) Controls the display of 170 and the like.

The boom operating lever 140, the arm operating lever 141, the bucket operating lever 142, and the swivel operating lever 143 generate operation signals 140s, 141s, 142s, and 143s (see FIG. 4) according to the operating direction and operating amount of the controller 155. Output to the main controller 150 inside. The main controller 150 generates drive signals (electrical signals) corresponding to the operation signals 140s, 141s, 142s, and 143s, and outputs the drive signals (electrical signals) to the control valve 130i-130iv, which is an electromagnetic proportional valve, so that the control valve 130i- Operate 130 iv. As a result, the valve opening degree of the control valve 130i-130iv is changed.

The valve opening degree of the control valve 130i-130iv changes according to the operating amount of the corresponding operating lever 140-143. That is, the operating amount of the operating lever 140-143 defines the operating speed of the hydraulic actuator 113-116. For example, when the operating amount of one of the boom operating levers 140 is increased, the opening degree of the valve of the control valve 130i corresponding to that direction increases, and the flow rate of the hydraulic oil supplied to the boom cylinder 113 increases, thereby increasing the flow rate. The speed of the boom cylinder 113 increases. As described above, the operation signal generated by the operation lever 140-143 has an aspect of the speed command for the target hydraulic actuator 113-116.

<Loading machine: Actuator drive>
When pressure oil (hydraulic oil) is supplied to the oil chamber 113i on the bottom side of the boom cylinder 113, the boom cylinder 113 extends, and the boom 110 is oscillated upward with respect to the upper swing body 102 (that is, the boom). When the oil chamber 113ii on the rod side is supplied to the oil chamber 113ii, the boom cylinder 113 contracts, and the boom 110 is oscillated downward with respect to the upper swing body 102 (that is, the boom lowering operation). Will be done). When pressure oil is supplied to the oil chamber 114i on the bottom side of the arm cylinder 114, the arm cylinder 114 extends, and the arm 111 is oscillated downward with respect to the boom 110 (that is, the arm cloud operation is performed). On the contrary, when the oil is supplied to the rod-side oil chamber 114ii, the arm cylinder 114 contracts, and the arm 111 is oscillated upward with respect to the boom 110 (that is, an arm dump operation is performed). When pressure oil is supplied to the oil chamber 115i on the bottom side of the bucket cylinder 115, the bucket cylinder 115 extends, and the bucket 112 is rotationally driven downward with respect to the arm 111 (that is, the bucket cloud operation is performed). On the contrary, when the oil is supplied to the rod-side oil chamber 115ii, the bucket cylinder 115 contracts, and the bucket 112 is rotationally driven upward with respect to the arm 111 (that is, a bucket dump operation is performed).

Further, when pressure oil is supplied to the oil passage 116i to which the swivel motor 116 is connected, the upper swivel body 102 is rotationally driven to the left with respect to the lower vehicle body 101, and conversely, the pressure is applied to the oil passage 116ii. When oil is supplied, the upper swing body 102 is rotationally driven to the right with respect to the lower vehicle body 101.

A boom bottom pressure sensor 160 is attached to the bottom side oil chamber 113i of the boom cylinder 113, and a boom rod pressure sensor 161 is attached to the rod side oil chamber 113ii of the boom cylinder 113. The boom bottom pressure sensor 160 and the boom rod pressure sensor 161 are connected to the controller 155. The measurement signals of the boom bottom pressure sensor 160 and the boom rod pressure sensor 161 are input to the weight measurement controller 151 (see FIG. 4) in the controller 155.

A display monitor 170, tilt sensors 120 to 122, and a correction value update switch 171 (see FIG. 14 and the like) are connected to the controller 155, respectively. The configuration and operation of the controller 155 will be described later.

<Internal configuration of controller>
The internal configuration of the controller 155 is shown in FIG. The controller 155 measures the transport load, which is the load value of the transport object in the bucket 112 transported by the main controller 150, which controls the hydraulic actuator mounted on the loading machine 1, and the work device 100, and is related thereto. It is provided with a weight measuring controller 151 that controls the processing. The controllers 150 and 151 may be configured by individual hardware or may be configured by the same hardware.

The weight measurement controller 151 includes a boom tilt sensor signal 120s from the boom tilt sensor 120, an arm tilt sensor signal 121s from the arm tilt sensor 121, a bucket tilt sensor signal 122s from the bucket tilt sensor 122, and a boom bottom pressure sensor 160. The boom bottom pressure sensor signal 160s, the boom rod pressure sensor signal 161s from the boom rod pressure sensor 161 and the correction value update switch signal 171s from the correction value update switch 171 are input. The output signal from the weight measurement controller 151 is the display monitor signal 170s output to the display monitor 170.

Inside the weight measurement controller 151, a transport load calculation unit 400 that calculates the transport load of the object to be transported carried by the bucket 112 and a transport load calculation unit 405 that corrects the transport load calculated by the transport load calculation unit 400 (described later). The operation of the transport load correction unit 401 that calculates the corrected transport load, which is the corrected transport load corrected by one of the correction values stored in, and the work device 100 when the transport load calculation unit 400 calculates the transport load. When the transport load calculated by the transport load calculation unit 400 and the motion classification unit 402 that classifies the work device 100 based on the operation speed information and the attitude information, and the transport load used by the transport load correction unit 401 for the calculation of the corrected transport load. The work device 100 stores the correction transport load and motion classification storage unit 403 in which the motion classification of the work device 100 by the motion classification unit 402 is stored in association with the correction transport load, and the correction value used in the transport load correction section 401. The correction value calculation unit 404 calculated based on the transportation load calculated by the transportation load calculation unit 400 when the load is empty, and the transportation load used by the correction value calculation unit 404 to calculate the correction value are the transportation load calculation unit 400. The correction information storage unit 405 in which the operation classification of the work device 100 by the operation classification unit 402 when calculated in is stored in association with the correction value, and the transportation used by the transportation load correction unit 401 for the calculation of the correction transportation load. The operation classification of the work device 100 by the operation classification unit 402 when the load is calculated by the transportation load calculation unit 400 and the correction information storage unit 405 in association with the correction value used by the transportation load correction unit 401 for the calculation of the correction transportation load. Judgment results (correction) of the correction effectiveness determination unit 406 and the correction effectiveness determination unit 406 that determine the effectiveness of the correction of the carried load by the correction value based on the degree of agreement with the stored operation classification of the work device 100. It is composed of a display control unit 407 that generates a display monitor signal 170s based on various information including the calculation result (corrected transport load) of the transport load correction unit 401.

The weight measurement controller 151 is configured to repeatedly execute a series of input / output in a preset control cycle, and the processing flow of the weight measurement controller 151 related thereto will be described later with reference to the drawings.

The storage units 403 and 405 in the weight measurement controller 151 indicate the storage area reserved in the storage device in the controller 155. On the other hand, the other parts 400, 402, 404, 406, and 407 show the functions that various programs stored in the storage device in the controller 155 are executed and exerted, but some or all of them are hard. It may be realized by hardware (for example, the logic for executing each function is designed by an integrated circuit).

<Overall processing flow of weight measurement controller>
FIG. 5 shows the entire processing flow by the weight measurement controller 151. In the first step 500, the weight measurement controller 151 acquires each of the above-mentioned input signals. In step 501, the transport load calculation unit 400 performs the transport load calculation process, and the transport load correction unit 401 performs the correction transport load calculation process. In step 502, the operation classification process (front operation classification process) of the work device (front work device) 100 is performed by the operation classification unit 402. In step 503, the correction value calculation process by the correction value calculation unit 404 triggered by the signal from the correction value update switch 171 and the correction information storage unit of the correction value by the correction information storage unit 405 and the operation classification result by the operation classification unit 402. Storage processing to 405 is performed. In step 504, the correction effectiveness determination process is performed by the correction effectiveness determination unit 406. In step 505, the display control unit 407 generates the display monitor signal 170s. In FIG. 5, each step 500-505 is described so as to be executed in order from the top, but if the calculation of the carrying load is not performed in step 501, the process is temporarily terminated (that is, the subsequent step 501). You may wait until the next control cycle (by skipping all processing), or if the correction value update switch 171 is not pressed and the switch signal 171s is not input to the correction value calculation unit 404, the processing in step 503 is omitted. You may. Next, the details of each of the above steps 501-505 will be described.

<< Step 501: Transport load calculation / correction >>
The calculation / correction process of the carrying load in step 501 will be described in detail with reference to FIGS. 6 and 7. FIG. 6 shows the subroutine in step 501. FIG. 7 is a schematic diagram for explaining an calculation algorithm for carrying load calculation.

Triggered by the activation of the controller 155, the weight measurement controller 151 starts the subroutine of FIG. First, in step 600, the transport load calculation unit 400 determines whether or not the boom raising operation (boom raising operation (that is, the extension operation of the boom cylinder 113)) has been started, and when it is determined that the boom raising operation has been started. To step 601. The presence or absence of the boom raising operation can be determined, for example, by whether or not the boom inclination sensor signal 120s has been input. If there is no boom raising operation, the process proceeds to step 609.

In step 601 the carrying load calculation unit 400 starts counting the duration of the boom raising operation and proceeds to step 602. The initial value of the duration of the boom raising operation (boom raising operation time) is set to zero.

In step 602, the transport load calculation unit 400 performs a transport load calculation process for calculating the weight (transport load) of the transport object in the bucket 112 excavated by the operation of the work device 100. FIG. 7 is a schematic diagram relating to the transportation load calculation. The carrying load F ₀ is calculated by solving the equilibrium equation of the moment M at the center of boom rotation. The moment M generated with the transport load F ₀ is the load point set in the bucket 112 (for example, a preset point in or near the center of gravity of the system consisting of the bucket 112 and the object to be transported) and the boom rotation center. using the horizontal distance L, represented by M = _{F 0} · L. On the other hand, the moment M generated by the thrust f of the boom cylinder 113 is represented by M = f · l using the horizontal distance l from the central axis of the boom cylinder 113 to the center of rotation of the boom. The horizontal distances L and l are known using the detection values 120s-122s of each inclination sensor 120-122 and the distances between the rotation centers of two adjacent front members 110, 111, 112 among the three front members 110, 111, 112. It can be calculated by the method. The thrust f can be calculated by a known method using the detected values of the boom bottom pressure sensor 160 and the boom rod pressure sensor 161, the diameter of the bottom side hydraulic chamber, the diameter of the rod side hydraulic chamber, the diameter of the rod, and the like. From these, the unknown transport load F ₀ is derived by "F ₀ = f · l / L". When step 602 is completed, the weight measuring controller 151 advances the process to step 603.

In step 603, the transport load calculation unit 400 determines whether or not the boom raising operation is continuing based on, for example, whether or not the input of the boom inclination sensor signal 120s is continuing. Here, if it is determined that the boom raising operation is continuing, the process proceeds to step 604, and if not, the process proceeds to step 609.

In step 604, the transport load calculation unit 400 determines whether or not the boom raising operation time for which counting was started in step 601 has reached a predetermined value Tb or more. If it is determined that the boom raising operation has been continuously performed by a predetermined value Tb or more, the process proceeds to step 605. For example, when the predetermined value Tb is set to 5 [s], the transport load calculation unit 400 shifts the process to step 605 when 5 [s] or more elapses from step 601. If the boom raising operation time is less than the predetermined value Tb, the process returns to step 602 and the carrying load is calculated again.

The purpose of determining the boom raising operation time in step 604 is to repeatedly calculate the carrying load obtained from the moment balance equation in step 602 during boom raising, and use the average value as the carrying load in the subsequent step 605. The purpose is to improve the accuracy of the calculated value of the carrying load. Further, the presence / absence of the boom raising operation in steps 600 and 603 may be determined from the signal 140s from the boom operating lever 140, the signal 160s of the pressure sensor of the boom bottom pressure 160, and the like.

_{In step 605, the transport load calculation unit 400 calculates the average value of the transport load F 0} calculated a plurality of times in step 602 during the predetermined time Tb, and outputs the average value as the transport load F ₀ to the transport load correction unit 401. To do. Further, the transport load calculation unit 400 outputs a signal (transport load calculation flag) indicating that the _{transport load F 0 has been calculated by the transport load calculation unit 400 to the operation classification unit 402.} At this time, the transport load calculation unit 400 may output the transport load calculation flag to the correction value calculation unit 404 or the correction effectiveness determination unit 406.

In step 606, the transport load correction unit 401 performs a process of acquiring a correction value ΔF for correcting _{the transport load F 0} input from the transport load calculation unit 400 in step 605 from the correction information storage unit 405. The correction value ΔF acquired here is predetermined. After completing step 606, the process proceeds to step 607.

In step 607, the transport load correction unit 401 corrects the transport load F ₀ with the correction value ΔF to perform a correction transport load calculation process for calculating the corrected transport load F, which is the corrected transport load. In the present embodiment, assuming that the transport load calculated in step 605 is F ₀ and the correction value acquired in step 606 is ΔF, the correction transport load F in step 607 is _{calculated by F = (F 0} + ΔF). As will be described later, the correction value ΔF is set based on the _{transport load F 0} calculated by the transport load calculation unit 400 when the bucket 112 is in an empty state. Specifically, the correction value ΔF is obtained by adding a minus to the transport load F ₀ in the empty state, so that the correction transport load in the empty state becomes zero. The empty load state in this paper means that the bucket 112 is substantially empty. For example, even if mud, soil, etc. are stuck to the bucket and the weight of the bucket is substantially increased, it is empty. Consider that there is. By the process of step 607, it is possible to accurately measure the weight of the object to be transported in the bucket 112 even if there is a measurement error.

In step 608, a process of storing the corrected transport load F, which is the calculation result of step 607, in the corrected transport load and the operation classification storage unit 403 is performed. The corrected transport load stored here is stored in association with the operation classification of the work device 100 during the boom raising operation (that is, in steps 600-604), which will be described later with reference to FIG. When step 608 is completed, the process proceeds to the weight measurement controller 151 step 609.

In step 609, the transport load compensating unit 401 performs a process of resetting the boom raising operation time to zero, and proceeds to step 610.

In step 610, the transport load calculation unit 400 determines whether or not the bucket 112 has started the upward rotational drive with respect to the arm 111, that is, whether or not the dump operation of the bucket 112 has been started. Judgment processing is performed. Here, the carrier load calculation unit 400 monitors the bucket inclination sensor signal 122s, and when the bucket 112 is operated in the dump direction, the process proceeds to step 607.

In step 607, a process of resetting the calculation result of steps 602, 605, 607 to zero is performed. The transport load correction unit 401 outputs a signal to the display control unit 407 notifying that the corrected transport load value is zero. The display control unit 407 resets the numerical value of the bucket load display unit 301 on which the corrected transport load value calculated in step 607 is displayed on the screen of the display monitor 170 (see FIG. 14) to zero.

In general, a hydraulic excavator in which a work tool such as the loading machine 1 is a bucket 112 excavates and loads by repeating a cycle of excavation (arm cloud), boom raising and turning, soil release, and leaching to the excavation start position. To carry out. The bucket load can be smoothly measured by the processing of steps 600 to 607, which is a step of detecting the boom raising operation and the bucket dump operation for a predetermined time.

In this paper, the average value of a plurality of transport loads calculated during the time Tb during which the boom raising operation is continued is used as the transport load to be output to the transport load correction unit 401, but at a certain time during the boom raising operation. The calculated transport load may be output to the transport load correction unit 401.

<< Step 502: Operation classification of front work equipment >>
The operation classification process of the work device 100 by the operation classification unit 402 in step 502 will be described in detail with reference to FIGS. 8 and 9. FIG. 8 shows the subroutine in step 502. FIG. 9 is a schematic diagram for explaining the concept of the operation classification process of the working device 100 in the present embodiment. The transport load calculation unit 400 classifies the operation of the work device 100 based on the operation speed information and the attitude information of the work device 100, but in the present embodiment, the boom raising operation is classified into nine as the operation of the work device 100. Then, the boom raising angular velocity is used as the operating speed information of the working device 100 used for classification, and the bucket horizontal distance (described later) is used as the attitude information of the working device 100.

Triggered by the activation of the controller 155, the weight measurement controller 151 starts the subroutine of FIG. First, in step 620, the motion classification unit 402 determines whether or not the transport load calculation unit 400 has determined in step 600 of FIG. 6 that the boom raising operation has started. When the transport load calculation unit 400 determines in step 600 that the boom raising operation has been started, the motion classification unit 402 advances the process to step 621. On the other hand, if the boom raising operation is not started, the process is terminated and the process proceeds to the next step 503.

In step 621, the motion classification unit 402 calculates the boom raising angular velocity. Since the boom tilt sensor 120 is an IMU equipped with a gyro sensor, the boom raising angular velocity can be easily calculated from the boom tilt sensor signal 120s.

In step 622, the motion classification unit 402 determines the boom raising angular velocity, which is one of the motion classification processes of the working device in the present embodiment. FIG. 9A is a schematic diagram relating to the boom raising angular velocity determination in the present embodiment. The storage device in the weight measurement controller 151 has determination criteria (for example, two angular velocity thresholds V1 and V2 for classifying into three types of large, medium, and small) for the motion classification unit 402 to determine the boom raising angular velocity. It is preset. The motion classification unit 402 classifies the boom raising angular velocity calculated in step 621 as large, medium, or small by comparing the magnitude relationship between the boom raising angular velocity calculated in step 621 and the two angular velocity thresholds V1 and V2. Judgment is made as to whether or not it corresponds to. For example, the calculation result shown in the schematic diagram of FIG. 9A is a determination result that the classification is equivalent to "medium" because the boom raising angular velocity is V1 or more and less than V2.

In step 623, the motion classification unit 402 calculates the bucket horizontal distance. The bucket horizontal distance in this embodiment is the same value as the horizontal distance L between the load point and the boom rotation center shown in FIG. 7, and the calculation result of the transport load calculation unit 400 can also be diverted. As described above, the bucket horizontal distance L can be easily calculated by using the detected values of the inclination sensors 120 to 122 and the like.

In step 624, the motion classification unit 402 performs the bucket horizontal distance determination, which is the motion classification process of another working device in the present embodiment. FIG. 9B is a schematic diagram relating to the bucket horizontal distance determination in the present embodiment. In the storage device in the weight measurement controller 151, the operation classification unit 402 determines the bucket horizontal distance (for example, two horizontal distance thresholds L1 and L2 for classifying into three categories: large, medium, and small). Is preset. The motion classification unit 402 compares the magnitude relationship between the bucket horizontal distance calculated in step 623 and the two horizontal distance thresholds L1 and L2, and the bucket horizontal distance calculated in step 623 is any of large, medium, and small. Judge whether it corresponds to the classification. For example, the calculation result shown in the schematic diagram of FIG. 9B is a determination result that is equivalent to “large” because the bucket horizontal distance is L2 or more.

In step 625, the motion classification unit 402 determines whether or not the carrier load calculation unit 400 has determined in step 603 of FIG. 6 that the boom operation is continuing based on the boom inclination sensor signal 120s. If the transport load calculation unit 400 determines that the boom raising operation is continuing, the process returns to step 621, and if not (that is, when the boom raising operation is completed), the process proceeds to step 626.

The determination results (classification results) obtained in steps 622 and 624 are sequentially stored in the storage device in the weight measurement controller 151 together with the classification time.

In step 626, the motion classification unit 402 determines whether or not step 605 of FIG. 6 is executed and the corrected transport load F is calculated by the transport load correction unit 401. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the correction transport load F has been calculated. If the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 627. If not, the determination result of steps 622 and 624 is discarded, the process is terminated, and the process proceeds to the next step 503. ..

In step 627, the motion classification unit 402 of the work apparatus 100 is based on the classification results obtained in steps 621 to 624 between the start of the boom raising operation and the elapse of the time Tb (see step 604 in FIG. 6). Determine one motion classification. In the determination of the motion classification here, for example, the mode of each of the boom raising angular velocity determination and the bucket horizontal distance determination can be used as the final motion classification. Further, during the time Tb, the average values of the angular velocity and the horizontal distance calculated in steps 621 and 623 are calculated, and the final motion classification is determined by comparing the calculated values with the magnitude relation of the above threshold values. You may. When the motion classification is determined, the process proceeds to step 628.

In step 628, the motion classification unit 402 associates the motion classification result of the work device 100 determined in step 627 with the corrected transport load F calculated in step 607 of FIG. 6 in the corrected transport load and motion classification storage unit 403. Perform the process of memorizing. _{Of the transport loads calculated by the transport load calculation unit 400, the transport load F 0} used by the transport load correction unit 401 to calculate the correction transport load F in step 607 (FIG. 6) is the transport load F 0 calculated in step 605 (FIG. 6). The classification result of the operation of the work device 100 by the operation classification unit 402 when calculated by the transportation load calculation unit 400 is stored in association with the correction transportation load F, and the correction transportation load F and the operation classification of the work device 100 are combined into one set. It is stored in the storage unit 403 as data.

In this paper, the case where the operation classification of the work device 100 is determined from the plurality of boom raising angular velocities calculated during the time Tb during which the boom raising operation continues and the bucket horizontal distance will be described. The motion classification may be determined from the boom raising angular velocity calculated at the time and the bucket horizontal distance.

<< Step 503: Correction value calculation / storage >>
The correction value calculation / storage process in step 503 will be described in detail with reference to FIG. FIG. 10 shows the subroutine in step 503.

In step 640, the correction value calculation unit 404 determines whether or not the correction value update switch 171 (see FIG. 14 described later) installed on the screen of the display monitor 170 is pressed by the operator of the loading machine 1. Do. When the switch signal 171s is input to the correction value calculation unit 404 and a determination result that the switch 171 is pressed is obtained, the correction value calculation unit 404 advances the process to step 641. On the other hand, when the switch signal 171s is not input, the processing ends without performing the correction value calculation processing. Although the correction value update switch 171 is provided on the screen of the display monitor 170 in the present embodiment, it may be provided as a hardware switch in the driver's cab 103, for example.

In step 641, the correction value calculation unit 404 determines whether or not step 605 of FIG. 6 is executed and the correction transportation load F is calculated by the transportation load correction unit 401. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the correction transport load F has been calculated. If the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 642. If not, the process ends and the process proceeds to the next step 504.

In step 642, the correction value calculation unit 404 uses the correction transport load F calculated in step 607 of FIG. 6 and stored in step 608 as the correction transport load used for the calculation of the correction value in the next step 643. And the process of acquiring from the operation classification storage unit 403 is performed.

In step 643, the correction value calculation unit 404 performs a process of acquiring the current correction value ΔF, which is set to be acquired by the carrier load correction unit 401 in step 606 of FIG. 6, from the correction information storage unit 405.

In step 644, the correction value calculation unit 404 performs a process of calculating a new correction value ΔF'using the correction transport load F acquired in steps 642 and 643 and the current correction value ΔF. The new correction value ΔF'calculated in step 644 is calculated by ΔF'= (ΔF−F) = −F ₀ . In other words, the new correction value ΔF'is set so that the correction carrying load F calculated when the boom is raised in the empty state becomes 0.

In step 645, the operation classification result of the work device 100 by the operation classification unit 402 when the calculation of the correction transport load F used for the calculation of the new correction value is performed is acquired from the correction transport load and the operation classification storage unit 403. Perform the processing to be performed.

In step 646, the correction information storage process is performed in which the correction value calculated in step 644 is associated with the operation classification result of the work device 100 acquired in step 645 and stored in the correction information storage unit 405. Further, the correction value acquired by the transport load correction unit 401 in step 606 of FIG. 6 is set to this new correction value ΔF'.

As a result, when the operator presses the correction value update switch 171 and executes the boom raising operation for the time Tb or more when the bucket 112 is empty, the correction carrying load F becomes zero according to the processing flow described above. A new correction value ΔF'will be calculated. _{Of the transport loads calculated by the transport load calculation unit 400, the transport load F 0} used by the correction value calculation unit 404 to calculate the new correction value ΔF'in step 644 is the transport load in step 605 (FIG. 6). The classification result of the operation of the work device 100 by the operation classification unit 402 when calculated by the calculation unit 400 is stored in association with the new correction value ΔF', and the new correction value ΔF'and the operation classification of the work device 100 are stored. It is stored in the correction information storage unit 405 as a set of data.

<< Step 504: Correction Effectiveness Judgment >>
The correction effectiveness determination process of step 504 will be described in detail with reference to FIGS. 11, 12, and 13. FIG. 11 shows the subroutine in step 504. FIG. 12 is a schematic diagram for explaining the concept of correction effectiveness determination in the present embodiment. FIG. 13 shows a method of determining the correction effectiveness according to the present embodiment.

In step 660, the correction effectiveness determination unit 406 determines whether or not step 605 of FIG. 6 is executed and the correction transport load F is calculated by the transport load correction unit 401. For example, when the transport load calculation flag is output from the transport load correction unit 401, it can be determined that the correction transport load F has been calculated. If the calculation of the corrected transport load F is confirmed by the transport load correction unit 401, the process proceeds to step 661. If not, the process ends and the process proceeds to the next step 505.

In step 661, the correction effectiveness determination unit 406 performs a process of acquiring the operation classification result of the work device 100 determined in step 627 of FIG. 8 from the correction transport load and the operation classification storage unit 403.

In step 662, the correction effectiveness determination unit 406 acquires the operation classification result of the working device 100 corresponding to the current correction value ΔF acquired by the transport load correction unit 401 in step 606 of FIG. 6 from the correction information storage unit 405. Perform processing.

In step 663, the correction effectiveness determination unit 406 first determines that the boom raising angular velocities match with respect to the motion classifications acquired in steps 661 and 662. FIG. 12A is a schematic diagram relating to the matching determination of the boom raising angular velocities. The operation classification result of the work device 100 acquired in step 661 is compared with the operation classification result of the work device 100 when the current correction value ΔF acquired in step 662 is calculated. Judgment is made as to whether the small judgment results are the same. In the example shown in FIG. 12A, since both are equivalent to "medium", it is determined that the boom raising angular velocities are the same.

In the following step 664, the correction effectiveness determination unit 406 determines that the bucket horizontal distances match the motion classifications acquired in steps 661 and 662. FIG. 12B is a schematic diagram relating to the matching determination of the bucket horizontal distances. The operation classification result of the work device 100 acquired in step 661 is compared with the operation classification result of the work device 100 when the current correction value ΔF acquired in step 662 is calculated. Judgment is made as to whether the small judgment results are the same. In the example shown in FIG. 12B, since the former corresponds to "large" and the latter corresponds to "medium", it is determined that the bucket horizontal distances do not match.

In step 665, the correction effectiveness determination unit 406 determines the correction effectiveness based on the determination results of steps 663 and 664. _{The correction effectiveness determination unit 406 classifies the operation of the work device 100 at the time of calculating the transport load F 0} classified by the operation classification unit 402 and the operation of the work device 100 stored in the correction information storage unit 405. It is determined that the higher the degree of coincidence, the more effective the correction of the transport load by the correction value ΔF. The specific criteria for determining the correction effectiveness in this embodiment are as follows.

FIG. 13 shows a determination criterion for determining the correction effectiveness in the present embodiment. As shown in this figure, the correction effectiveness determination unit 406 of the present embodiment determines that "correction is effective" when the result of the match determination of the boom raising angular velocity and the bucket horizontal distance is "both match". To do. If the result of the matching judgment of the boom raising angular velocity and the bucket horizontal distance is "both do not match", it is judged that "correction is invalid". Further, if the result of the matching judgment of the boom raising angular velocity and the bucket horizontal distance is "one of them matches", it is judged that "the effectiveness of the correction is low (warning required)". Therefore, in the case of FIG. 12, it is determined as "warning required".

As described above, according to the flowchart of FIG. 11, when the transport load F0 used by the transport load correction unit 401 to calculate the correction transport load F is calculated among the transport loads calculated by the transport load calculation unit 400. Transportation by the correction value ΔF based on the degree of agreement between the operation classification result of the work device 100 by the operation classification unit 402 and the operation classification of the work device 100 at the time of calculating the correction value ΔF stored in the correction information storage unit 405. The effectiveness of the correction of the load F _{0 can be determined.} As a result, it is possible to easily determine how much the operation of the work device 100 at the time of calculating the corrected transport load deviates from the operation of the work device 100 at the time of calculating the correction value ΔF.

<< Step 505: Display control >>
The display control of step 505 will be described in detail with reference to FIG. FIG. 14 shows the appearance of the display screen of the display monitor 170 according to the present embodiment.

The bucket load display unit 301 on the screen displays the corrected transport load calculated in step 607 of FIG. The correction effectiveness determination result 302 determined in step 665 of FIG. 11 is displayed on the correction effectiveness display unit 302. In the present embodiment, any one of the three determination results corresponding to the determination criteria is lit according to the determination criteria shown in FIG. The lamp is turned off together with the zero reset of the transport load when the step 611 of FIG. 6 is passed. The correction value update switch 171 installed on the screen of FIG. 14 receives a correction value update instruction of the operator of the loading machine 1 who wants to update the correction value by pressing the switch 171.

<Effect of Embodiment 1>
In the loading machine 1 configured as described above, the operator first sets the bucket 112 in an empty state, presses the correction value update switch 171 and then performs the same operation as the transport work performed during the actual excavation and loading work. (For example, turning boom raising operation) is performed. As a result, the correction value ΔF is calculated by the correction value calculation unit 404, and the calculated correction value ΔF is stored in the correction information storage unit 405 together with the operation classification of the boom raising operation at that time. After that, when the actual excavation and loading work is performed, the carrying load is carried out during the transportation work (that is, during the swivel boom raising operation in which the bucket 112 packed with the objects to be transported is moved above the loading platform of the dump truck 2). The correction unit 401 calculates the corrected transportation load F, and the operation classification unit 402 classifies the operation of the boom raising operation during the transportation operation. This operation classification is compared with the operation classification at the time of calculating the correction value ΔF by the correction effectiveness determination unit 406, and the difference between the boom raising operation at the time of measuring the correction carrying load F and the boom raising operation at the time of calculating the correction value ΔF. The degree is notified to the operator as a determination result of the correction effectiveness.

As a result, when calculating the corrected transport load F, the operator of the loading machine 1 can easily check whether or not the boom raising operation is performed, which is close to the boom raising operation at the time of calculating the correction value ΔF. Therefore, the front operation in which the judgment result of the correction effectiveness is "effective" is frequently performed, and the optimization of the load capacity of the transport machine is promoted, so that the production efficiency can be expected to be improved.

If invalidity or warnings frequently occur as a result of determining the correction effectiveness on the screen of the display monitor 170, it means that the correction value suitable for the operation tendency of the operator of the loading machine 1 and the work environment is not set. It is inferred. As a result, it is possible to urge the operator to update the correction value to match the operation tendency of the work apparatus 100 or the operation of the work apparatus 100 performed under a special work environment. If the correction value is set according to the actual front operation, the accuracy of the corrected transport load is improved and the load capacity of the transport machine is optimized, so that the production efficiency can be expected to be improved.

In order to recalculate the corrected carrying load when the correction effectiveness is "invalid" or "warning" (that is, to perform the boom raising operation again), for example, the carrying load is reset on the screen of the display monitor 170. A switch may be provided. When the carrier load reset switch is pressed by the operator, the integration of the corrected transport load with respect to the load capacity of the transport machine is canceled, and the corrected transport load and the transport load are reset to zero. As a result, if the boom raising operation is performed again after pressing the transport load reset switch, the corrected transport load of the transport object in the bucket 112 can be remeasured.

− Embodiment 2-
In this embodiment, a plurality of correction values are preset as correction values used in the calculation of the correction carrying load, and the plurality of correction values are associated with the operation classification closest to the actual boom raising operation. The feature is that one correction value is automatically selected. Further, a plurality of correction value update switches 171 (see FIG. 18) (three in the present embodiment) are arranged on the screen of the display monitor 170, and different correction values can be set for each. There is. The contents other than those described below are the same as those in the above-described first embodiment.

<Internal configuration of weight measurement controller>
The internal configuration of the weight measurement controller 151 is shown in FIG. The difference from FIG. 4 is that a plurality of correction values are stored in the correction information storage unit 405 and that a correction information selection unit 420 is newly provided.

A plurality of correction values are stored in the correction information storage unit 405 as correction values, and a plurality of transportation loads used by the transportation load correction unit 401 for calculation of the plurality of correction values are stored in the transportation load calculation unit 400. A plurality of operation classifications of the work device 100 by the operation classification unit 402 at the time of calculation are stored in association with the plurality of correction values. That is, when the three correction values are stored, the operation classification of the working device 100 at the time of calculating the three correction values is stored in the correction information storage unit 405 in association with each of the three correction values.

_{In the correction information selection unit 420, the transport load F 0} used by the transport load correction unit 401 to calculate the correction transport load F is the transport load from among the plurality of operation classifications of the work device 100 stored in the correction information storage unit 405. The one closest to the operation classification of the work device 100 by the operation classification unit 402 when calculated by the calculation unit 400 is selected, and among the plurality of correction values, it is stored in association with the operation classification of the selected work device 100. The correction value is selected as the correction value used by the transport load correction unit 401.

<Overall processing flow of weight measurement controller>
The overall processing flow of the weight measurement controller 151 is shown in FIG. Unlike FIG. 5, the process of step 502 is executed in parallel with the process of step 501A (however, in FIG. 5, step 502 and step 501 may be processed in parallel). It is assumed that step 502 performs the same processing as in FIG. 8, step 503 performs the same processing as in FIG. 10, and step 504 performs the same processing as in FIG.

<< Step 505: Display control >>
First, the display control in step 505 will be described in detail with reference to FIG. FIG. 18 shows the appearance of the display screen of the display monitor 170 according to the present embodiment. The difference from FIG. 14 is that three types of correction value update switches 171 are attached.

The functions of the correction value update switches 171a, 171b, and 171c are the same as those in the first embodiment. The difference is that correction information can be stored in the correction information storage unit 405 corresponding to the respective switches 171a, 171b, 171c (that is, three types of correction information (correction values ΔFa, ΔFb, ΔFc and related front operation classifications). ) Can be set). For example, when the correction value update switch A171a is pressed to raise the boom in an empty state and the correction value ΔFa is calculated, the correction value ΔFa and the front operation classification at that time are stored as the correction value and the operation classification of the update switch A171a. Will be done. When the correction value ΔFa of the update switch A171a is selected in the correction value setting described later, the update switch 171a is highlighted on the screen and the correction value ΔFa set in the update switch A171a is used for the calculation of the correction carrying load. Is notified to the operator.

<< Step 501A: Carrying load calculation / correction processing >>
Next, FIG. 17 shows the calculation / correction processing of the carrying load in step 501A. FIG. 17 shows the subroutine in step 501A. The difference from FIG. 6 is that the correction information selection process of step 702 is newly added, and the correction value acquisition process of step 606 is deleted due to the addition of step 702.

<<< Step 702: Correction information selection >>>
The correction information selection process in step 702 will be described in detail with reference to FIGS. 19 and 20. FIG. 19 shows the subroutine in step 702. FIG. 20 is a schematic diagram for explaining the concept of correction information selection in the present embodiment.

First, in step 720, the correction information selection unit 420 performs a process of acquiring the motion classification determined in step 502 (that is, step 627 of the subroutine in FIG. 8) from the correction carrier load and the motion classification storage unit 403. When step 720 is completed, the correction information selection unit 420 shifts to the next step 721.

Next, in step 721, the correction information selection unit 420 performs a process of acquiring the operation classification result of the work device 100 at the time of calculating the correction value related to all three update switches 171a, 171b, and 171c from the correction information storage unit 405.

In step 722, the correction information selection unit 420 does not have the same classification result or the same as the actual operation classification result of the actual working device 100 acquired in step 720 from the three operation classification results acquired in step 721. In the case, the process of selecting the most similar classification result is performed. FIG. 20 is a schematic diagram showing the concept of processing in step 722. In the example shown in FIG. 20, the operation classification results of the actual work device 100 acquired in step 720 are the boom raising angular velocity (medium) and the bucket horizontal distance (large) (see the bottom row hatched). The method of determining the operation classification result of the working device 100 at the time of the correction value calculation most similar to this is arbitrary, but in the present embodiment, the numerical values of 3, 2, and 1 are applied to the classification of large, medium, and small ( (Refer to the numerical values in parentheses in FIG. 20), for each of the boom raising angular velocity V and the bucket horizontal distance L, take the differences ΔV and ΔL between the numerical values of the operation classification of the implementation and the numerical values of the operation classification of the three correction values. Then, the policy is to select the information having the smallest total (ΔV + ΔL) of both as correction information. In the example of FIG. 20, since the values of ΔV + ΔL are 1, 2, and 3 in order from the top to the bottom, the operation classification of the work apparatus 100 at the time of calculating the correction value related to the update switch A (171a) in the top. It is determined that the result (ΔV + ΔL = 1) is most similar to the operation classification result of the actual working device 100.

In step 723, the correction information selection unit 420 receives the determination result of step 722 and selects the correction information (correction value and the motion classification associated therewith) related to the most similar motion classification among the three motion classifications. Do. Of the correction information selected here, the correction value is used in step 607 of FIG. 17, and the operation classification is used in step 504 of FIG. 16 (that is, step 662 of FIG. 11).

<Effect of Embodiment 2>
In the loading machine 1 configured as described above, the operator first sets the bucket 112 in an empty state and presses any of the three correction value update switches 171a, 171b, and 171c to raise the turning boom. As a result, the calculation of the correction value ΔF and the operation classification of the front operation are performed, and the correction value and the operation classification are stored in the correction information storage unit 405 in association with the correction value update switch 171 that presses the button. Then, the boom raising operation is performed for the remaining two correction value update switches 171 in the same manner, and the correction value and the operation classification are associated with each switch. However, it is preferable to appropriately adjust the angular velocity V and the horizontal distance L so that the motion classifications are different for the boom raising operation when calculating the three correction values ΔFa, ΔFb, and ΔFc.

After that, when the actual excavation and loading work is performed, during the transportation work (that is, during the swivel boom raising operation), the transportation load calculation unit 400 calculates the transportation load F ₀ (step 605 in FIG. 16) and the operation classification unit. The operation classification of the boom raising operation during the transportation work by 402 is performed (step 627 in FIG. 8 and step 702 in FIG. 16). Then, the correction information selection unit 420 determines the motion classification most similar to the motion classification among the motion classifications associated with the above three correction values ΔFa, ΔFb, and ΔFc (step 722 in FIG. 19), and the most similar motion classification. The correction value related to the operation classification is set as the correction value used by the transport load correction unit 401 (step 723 in FIG. 19).

That is, in the present embodiment, the correction value related to the motion classification closest to the motion classification is automatically selected in response to the motion classification result of the actual work apparatus 100. As a result, the effect of increasing the correction effectiveness as a whole can be obtained. Therefore, in addition to the effect of the first embodiment, the effect of reducing the burden on the operator to reset the correction value can be obtained.

In the above description, the case where the correction value update switch 171 is three has been described, but the number of switches 171 may be other than three as long as there are a plurality of switches 171. Further, although the above description is based on the assumption that the operator sets the correction value, a plurality of different operation classifications and the correction value associated with them are stored in advance in the storage device (correction information storage unit 405) in the controller 151. You can leave it. In this case, since the correction value setting work (pressing the switch 171 and raising the boom in the empty state) by the operator becomes unnecessary, the burden on the operator is further reduced.

− Embodiment 3-
In this embodiment, when the operation classification of the work device 100 at the time of the latest load carrying load calculation (that is, the latest boom raising operation classification) matches the most common operation classification in the time series data of the operation classification of the past work device 100. And when the bucket 112 at that time can be regarded as empty (for example, when the corrected transport load calculated by the transport load correction unit 401 is less than a predetermined threshold near zero), the transport load correction unit 401 is used. The correction value ΔF to be corrected is automatically calculated by the correction value calculation unit 404 based on the new correction value automatically calculated based on the latest carrying load (that is, the carrying load calculated at the time of the latest boom raising operation). It is characterized in that whether or not to update with a new correction value) is displayed on the display monitor 170, and when the operator's consent is obtained for updating the correction value, the correction value is updated with the new correction value. The contents other than those described below are the same as those in the above-described first embodiment.

<Internal configuration of weight measurement controller>
The internal configuration of the weight measurement controller 151 is shown in FIG. The difference from FIG. 4 is that the update recommendation determination unit 430 is newly provided.

The corrected transport load and motion classification storage unit 403 stores time-series data of the motion classification of the work device 100 by the motion classification unit 402 as in the first embodiment.

The update recommendation determination unit 430 determines the operation classification of the work device 100 by the operation classification unit 402 when the _{transportation load F 0} used by the transportation load correction unit 401 for the calculation of the correction transportation load F is calculated by the transportation load calculation unit 400. Transport load correction when it matches the most motion classification in the time series of motion classification of the work device 100 stored in the motion classification storage unit 403, and when the corrected transport load F is less than a predetermined threshold value Ft (described later). A new correction value ΔF'calculated _{by the correction value calculation unit 404 using the transportation load F 0} for the correction value ΔF (correction value currently used) used by the unit 401 for the calculation of the correction transport load F. The display signal for displaying the display recommended to be updated on the display monitor 170 is output to the display control unit 407.

Upon receiving the display signal output from the update recommendation determination unit 430, the display control unit 407 displays on the display monitor 170 a display for recommending the operator to update the current correction value ΔF with a new correction value ΔF'. To do. In the present embodiment, the update recommended lamp 310 is lit as this display, and when the correction value update switch 171 is pressed while the update recommended lamp 310 is lit, the correction value ΔF is updated to the latest correction value ΔF'. ing. That is, the correction value update switch 171 of the present embodiment serves as an execution switch for updating the correction value.

<Overall processing flow of weight measurement controller>
FIG. 22 shows the overall processing flow of the weight measurement controller 151. The difference from FIG. 5 is that the update recommendation determination process of step 510 has been added. Steps 500, 501, 503, and 504 are the same as those in the first embodiment, and the remaining steps 502, 510, and 505 will be described below.

<< Step 502: Operation classification of front work equipment >>
The outline of the operation classification process of the work device 100 by the operation classification unit 402 in step 502 is the same as that in FIGS. 8 and 9, but the memory process of the operation classification in step 628 (FIG. 8) of the present embodiment is used. There are the following differences.

FIG. 23 is a schematic diagram showing time-series data of the motion classification stored in the corrected transport load and motion classification storage unit 403 in the present embodiment. In the above-described first embodiment, only one motion classification result by the motion classification unit 402 is stored in the storage unit 403, but in the present embodiment, the motion classification for the last 10 times is stored. ing. When the motion classification unit 402 executes step 628, the motion classification result of the boom raising motion is stored in the storage No. It is stored sequentially from 1 and No. After the memory of No. 10 is performed, No. It returns to 1 and overwrite storage is performed.

<< Step 503: Correction value calculation / storage >>
The correction value calculation / storage process by the correction value calculation unit 404 in step 503 in FIG. 22 will be described in detail with reference to FIG. 27. FIG. 27 shows the subroutine of step 503 of this embodiment. The outline of the processing in this figure is the same as that in FIG. 10 described above, except that step 640 for determining whether or not the correction value update switch 171 is pressed is moved between step 645 and step 646. When the subroutine processing is configured in this way, a new calculation of the correction value ΔF'and acquisition of the corresponding operation classification result are executed regardless of whether or not the correction value update switch 171 is pressed, and then the correction value update switch 171 is pressed. This information is stored in the correction information storage unit 405.

<< Step 510: Update recommendation judgment >>
The update recommendation determination process by the update recommendation determination unit 430 in step 510 in FIG. 22 will be described in detail with reference to FIGS. 24 and 25. FIG. 24 shows the subroutine in step 510. FIG. 25 is a schematic diagram for explaining the concept of the front operation mode calculation for the update recommendation determination unit 430 of the present embodiment to perform the update recommendation determination.

In step 800, the update recommendation determination unit 430 performs a process of acquiring the time series data of the operation classification (front operation classification) of the work device 100 shown in FIG. 23 from the corrected transport load and the operation classification storage unit 403.

In step 801 the update recommendation determination unit 430 counts the number of appearances of each operation classification result using the time-series data of the operation classification results for the past 10 times acquired in step 800, and the operation classification with the largest number of appearances ( Mode) is calculated (front operation classification mode calculation processing). FIG. 25 shows the result of performing the front operation classification mode calculation processing for the example of the operation classification result of the work device 100 shown in FIG. 23. As shown in this figure, there are a total of nine categories of boom raising operations, of which four combinations of boom raising angular velocity "medium" and bucket horizontal distance "large" have occurred, which is the most frequent in the past 10 times. It is a value.

In step 802, the update recommendation determination unit 430 determines whether or not the latest operation classification result of the working device 100 performed in step 502 matches the mode obtained in step 801. If the latest operation classification matches the mode, the process proceeds to step 803, and if they do not match, the process proceeds to step 806. For example, in the example shown in FIG. 25, the process proceeds to step 803 only when the latest motion classification result by the motion classification unit 402 is the boom raising angular velocity “medium” and the bucket horizontal distance “large”.

In step 803, the update recommendation determination unit 430 performs a process of acquiring the latest corrected transportation load F calculated in step 501 (step 607 of FIG. 6) from the correction transportation load and operation classification storage unit 403.

Next, in step 804, the update recommendation determination unit 430 refers to the latest corrected transport load F acquired in step 803, and determines whether or not the bucket 112 is in an empty state when the _{transport load F 0 is calculated.} In the present embodiment, it is determined whether or not the bucket 112 is in the empty state by using the threshold value Ft for determining the empty load. Specifically, when the transport load F0 is less than the threshold value Ft, it is considered to be in the empty state. The empty load determination threshold value Ft is stored in advance in a storage device (not shown) in the weight measurement controller 151. The method of setting the threshold value Ft is arbitrary, but it can be determined by referring to, for example, the rated capacity of the bucket. For example, in a bucket capable of transporting a maximum of 1000 [kg] of an object to be transported, when 50 [kg] is set as the threshold value Ft, 5% or less of the rated capacity is regarded as an empty load. If it is determined in step 804 that the bucket 112 is empty, the process proceeds to step 805.

In step 805, the update recommendation determination unit 430 updates the current correction value ΔF with a new correction value ΔF'(= −F _{0 ) calculated by the correction value calculation unit 404 using the carrier load F 0.} The update recommendation determination, which is a signal for recommendation, is output to the display control unit 407.

On the other hand, in step 806, the update recommendation determination unit 430 outputs an update deprecation determination, which is a signal for not recommending updating the current correction value ΔF with a new correction value ΔF', to the display control unit 407.

<< Step 505: Display control >>
The appearance of the display monitor 170 in this embodiment is shown in FIG. The difference from FIG. 14 is that the update recommended lamp 310 is newly attached.

The display control unit 407 updates the display monitor signal 170s that turns on the update recommendation lamp 310 when the update recommendation determination is input from the update recommendation determination unit 430 (that is, when step 805 is passed in FIG. 25). When the update non-recommended determination is input from the recommended determination unit 430 (when step 806 has been passed), the display monitor signal 170s for turning off the update recommended lamp 310 is generated.

<Effect of Embodiment 3>
In the loading machine 1 configured as described above, the correction value ΔF and the operation classification of the boom raising operation corresponding to the correction value ΔF are first stored in the correction information storage unit 405 prior to the actual excavation work. ..

After that, when the actual excavation work is repeated, during the transportation work (that is, during the swivel boom raising operation), the transportation load calculation unit 400 calculates the transportation load F ₀ (step 605 in FIG. 6) and the operation classification unit 402. The operation classification of the boom raising operation during the transportation work is performed (step 627 in FIG. 8), and the time series of the latest 10 operation classification results as shown in FIG. 23 is obtained.

The update recommendation determination unit 430 obtains the operation classification (mode) having the largest number of occurrences in the data of the operation classification results for 10 times, and whether this mode matches the operation classification result of the latest work device 100. Whether or not it is determined (step 802 in FIG. 25). When the latest operation classification result matches the mode value, it is determined whether or not the bucket 112 at the time of the latest boom raising is in an empty state (step 804 in FIG. 25). When it is determined that the bucket 112 is empty, the update recommendation lamp 310 on the display monitor 170 lights up to prompt the operator to update the correction value ΔF. When the operator wishes to update the correction value ΔF, the correction value update switch 171 is pressed and the correction value ΔF is updated to the latest correction value ΔF'calculated in step 503 (step 644 of FIG. 27). ..

As described above, in the present embodiment, the front operation that is frequently used by the operator is automatically determined, and when the frequently used operation is performed, the update recommendation lamp 310 is turned on to prompt the update of the correction value. Is possible. Since the correction value can be appropriately updated according to the usage status of the work device 100, usability is improved in addition to the effect of the first embodiment.

Further, since the update recommendation lamp 310 lights up when the same front operation as the mode value is performed, it becomes easy for the operator to recognize the front operation in which the accuracy of the corrected carrying load becomes relatively high.

− Other −
The present invention is not limited to the above-described embodiment, and includes various modifications within a range that does not deviate from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment. A modified example is shown below.

In the present embodiment, the loading machine has the configuration shown in FIG. 2, but this is not the case. Any configuration that can be loaded into the transport machine, such as increasing or decreasing the number of joints (the number of front members) of the work device 100, can be applied.

The control system of the loading machine has the configuration shown in FIG. 3, but this is not the case. For example, the main controller 150 can also serve as the weight measurement controller 151.

The calculation flow of the carrying load is the flow shown in FIG. 6, but this is not the case. Any means by which the carrying load can be measured is applicable. For example, although the boom raising operation time is used as a trigger for starting the transportation load calculation, the start of the turning operation of the upper turning body 102 with respect to the lower vehicle body 101 may be used as a trigger. Further, although the bucket inclination sensor signal is used for the bucket dump operation determination in step 610 of FIG. 6, naturally, the operation signal of the bucket operation lever 242 may be used.

The boom raising angular velocity and the bucket horizontal distance were used for the operation classification process of the work device 100, but this is not the case. As the speed information of the boom raising operation, any parameter capable of characterizing the front operation such as the boom raising angular acceleration and the boom cylinder extension speed can be used. In addition, one reference point at the bucket horizontal distance L is set as the boom rotation center, but if it is the reference point set in the main body of the loading machine, another place (for example, the rotation center of the upper swing body) is also set as the reference point. It is available. Similarly, the other reference point (load point) can be used as an alternative if it is at a position related to the bucket 112 (for example, the toe position of the bucket 112). Further, the number of parameters used for the determination is not limited to two, and any number of parameters can be used as a matter of course.

The operation classification process of the work device and the determination of the correction effectiveness have been described by a method of dividing each parameter into three stages of large, medium and small, but this is not the case. Any setting is possible for the number of divisions.

Each configuration related to the controller (control device) 155 and the functions and execution processing of each configuration are partially or entirely hardware (for example, the logic for executing each function is designed by an integrated circuit). It may be realized. Further, the configuration related to the controller 155 may be a program (software) that realizes each function related to the configuration of the controller 155 by being read and executed by an arithmetic processing unit (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

Further, in the description of each of the above embodiments, the control lines and information lines are shown to be understood to be necessary for the description of the embodiment, but they do not necessarily indicate all the control lines and information lines related to the product. Not always. In reality, it can be considered that almost all configurations are interconnected.

1 ... Loading machine (working machine), 2 ... Transporting machine (dump truck), 100 ... Working equipment (front work equipment), 110 ... Boom, 111 ... Arm, 112 ... Bucket, 113 ... Boom cylinder, 120 ... Boom tilt Sensor, 121 ... Arm tilt sensor, 122 ... Bucket tilt sensor, 140, 141, 142, 143 ... Operation lever, 150 ... Main controller, 151 ... Weight measurement controller, 151 ... Controller, 170 ... Display monitor (display device), 171 ... Correction value update switch, 301 ... Bucket load display unit, 302 ... Correction effectiveness display unit, 310 ... Update recommended lamp, 400 ... Transport load calculation unit, 401 ... Transport load correction unit, 402 ... Operation classification unit, 403 ... Correction Transport load and motion classification storage unit, 404 ... correction value calculation unit, 405 ... correction information storage unit, 406 ... correction effectiveness judgment unit, 407 ... display control unit, 420 ... correction information selection unit, 430 ... update recommendation judgment unit

Claims (6)

Working equipment and
The actuator that drives the work device and
A transport load calculation unit that calculates a transport load, which is a load value of a transport object to be transported by the work device, based on the attitude information of the work device and the load information of the actuator during the operation of the actuator, and the transport. A control device having a transport load compensator that calculates the corrected transport load by correcting the load with a correction value, and
In a work machine provided with a display device for displaying the corrected transport load calculated by the transport load compensator.
The control device is
An operation classification unit that classifies the operation of the work device when the transfer load is calculated by the transfer load calculation unit based on the operation speed information and the posture information of the work device.
A correction value calculation unit that calculates the correction value based on the transportation load calculated by the transportation load calculation unit, and a correction value calculation unit.
A correction in which the operation classification of the work device by the operation classification unit when the transportation load used by the correction value calculation unit for calculating the correction value is calculated is stored in association with the correction value. Information storage unit and
Of the transport loads, the motion classification of the work device by the motion classification unit when the transport load used by the transport load compensator for calculating the corrected transport load is calculated, and the operation classification stored in the correction information storage unit. It is provided with a correction effectiveness determination unit that determines the effectiveness of the correction of the carrying load by the correction value based on the degree of agreement with the operation classification of the work device.
The display device is a work machine characterized by displaying a determination result of the correction effectiveness determination unit. In the work machine of claim 1,
A plurality of correction values are stored as the correction values in the correction information storage unit, and among the transportation loads, a plurality of transportation loads used by the correction value calculation unit for calculation of the plurality of correction values are stored. A plurality of operation classifications of the work device by the operation classification unit at the time of calculation are stored in association with the plurality of correction values.
The control device calculates the transport load used by the transport load correction unit to calculate the correction transport load among the transport loads from a plurality of operation classifications of the work device stored in the correction information storage unit. The one closest to the operation classification of the work device by the operation classification unit at the time of the operation is selected, and the correction value stored in association with the selected operation classification of the work device among the plurality of correction values is used as described above. A work machine characterized by further including a correction information selection unit selected as a correction value used in the transportation load correction unit. In the work machine of claim 1,
The correction value calculation unit calculates the correction value based on the transportation load used by the transportation load correction unit in the calculation of the correction transportation load among the transportation loads.
The control device is
An operation classification storage unit that stores a time series of operation classification of the work device by the operation classification unit,
The operation classification of the work device by the operation classification unit when the transportation load used by the transportation load correction unit for calculating the corrected transportation load is calculated among the transportation loads is stored in the operation classification storage unit. When the operation classification matches the most operation classification in the operation classification of the work device and the corrected transport load is less than a predetermined threshold value, the correction used by the transport load compensator for the calculation of the correction transport load. A work machine further comprising an update recommendation determination unit that displays on the display device whether or not to update the value with the correction value calculated by the correction value calculation unit. In the work machine of claim 1,
The working device has a boom and a bucket.
A work machine characterized in that the operating speed information of the working device is the operating speed of the boom, and the posture information of the working device is the distance from the main body of the working machine to the bucket. In the work machine of claim 1,
The correction effectiveness determination unit matches the classification of the operation of the work device at the time of calculating the carrying load classified by the operation classification unit with the classification of the operation of the work device stored in the correction information storage unit. A work machine characterized in that it is determined that the higher the degree is, the more effective the correction of the carrying load by the correction value is. In the work machine of claim 1,
The working device has a boom
The actuator is a boom cylinder that drives the boom.
A work machine characterized in that the operation of the work apparatus when the transport load is calculated by the transport load calculation unit is a boom raising operation.

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